Featured Book:

Together with Dr. Melvin Leok (UCSD) and Dr. N. Harris McClamroch, we published a research monograph, entitled

This book provides an accessible introduction to the variational formulation of Lagrangian and Hamiltonian mechanics, with a novel emphasis on global descriptions of the dynamics, which is a significant conceptual departure from more traditional approaches based on the use of local coordinates on the configuration manifold. In particular, we introduce a general methodology for obtaining globally valid equations of motion on configuration manifolds that are Lie groups, homogeneous spaces, and embedded manifolds, thereby avoiding the difficulties associated with coordinate singularities.

*Global Formulations of Lagrangian and Hamiltonian Dynamics on Manifolds*.This book provides an accessible introduction to the variational formulation of Lagrangian and Hamiltonian mechanics, with a novel emphasis on global descriptions of the dynamics, which is a significant conceptual departure from more traditional approaches based on the use of local coordinates on the configuration manifold. In particular, we introduce a general methodology for obtaining globally valid equations of motion on configuration manifolds that are Lie groups, homogeneous spaces, and embedded manifolds, thereby avoiding the difficulties associated with coordinate singularities.

Publications

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2022

- Z. Hou, T. Lee, M. Keidar, "Canonical correlation analysis for real-time diagnostics of cancer cell viability with impedance,"
*International Workshop On Plasma For Cancer Treatment*, December 2022, accepted. - M. Tarpley, J. Pohly, C. Kang, T. Lee, H. Aono, "Numerical analysis of flight performance of bioinspired Mars flight vehicles,"
*AIAA Scitech Forum*, December 2022, accepted. - J. Pohly, C. Kang, T. C, T. Lee, H. Aono, "Climbing flight of Monarch butterflies via wing and abdomen kinematic modulation using a high-fidelity numerical framework,"
*AIAA Scitech Forum*, December 2022, accepted. - B. Yu, T. Lee, "Equivariant reinforcement lenring for quadrotor UAV,"
*Proceedings of the American Control Conference*, October 2022, accepted. - T. C, T. Lee, "Constrained imitation learning for a flapping wing unmanned aerial vehicle,"
*IEEE Robotics and Automation Letters*, 7(4):10534--10541, October 2022, doi:10.1109/LRA.2022.3194682. - W. Wang, K. Gamagedara, T. Lee, "On the observability of attitude with single direction measurements,"
*IEEE Transactions on Automatic Control*, 67(9):4986--4993, September 2022, doi:10.1109/TAC.2022.3179214. - T. C, T. Lee, "Iterative supervised learning for regression with constraints,"
*International Conference on Ubiquitous Robots*, July 2022. - W. Wang, T. Lee, "Uncertainty propagation for general stochastic hybrid systems on compact Lie groups,"
*SIAM Journal on Applied Dynamical Systems*, 21(3):2215--2240, June 2022, doi:10.1137/21M144147X. - W. Wang, T. Lee, "Matrix Fisher--Gaussian distribution on SO(3)xRn for Bayesian attitude estimation,"
*IEEE Transactions on Automatic Control*, 67(5):2175--2191, May 2022, doi:10.1109/TAC.2021.3073323. - Z. Hou, T. Lee, M. Keidar, "Reinforcement learning with safe exploration for adaptive plasma cancer treatment,"
*IEEE Transactions on Radiation and Plasma Medical Sciences*, 6(4):482--492, April 2022, doi:10.1109/TRPMS.2021.3094874. - T. Lee, "Real harmonic analysis on the special orthogonal group,"
*International Journal of Analysis and Applications*, 20April 2022, doi:10.28924/2291-8639-20-2022-0. - K. Gamagedara, T. Lee, "Geometric adaptive controls of a quadrotor uav with decoupled attitude dynamics,"
*ASME Journal of Dynamic Systems, Measurement, and Control*, 144(3):031002, March 2022, doi:10.1115/1.4052714. - S. Kulumani, T. Lee, "Bayesian shape reconstruction and optimal guidance for autonomous landing on asteroids,"
*Journal of the Astronautical Sciences*, 69:335--367, March 2022, doi:10.1007/s40295-022-00310-6. - T. Morris, M. Sridhar, T. Clark, F. Schulze, C. Kang, D. Landrum, K. Roh, T. Lee, H. Aono, "Experimental measurements of the wing deformation and force production of real and bioinspired artificial Monarch butterfly wings,"
*Proceedings of the AIAA Scitech Forum*, January 2022, AIAA 2022-0308. - W. Wang, T. Lee, "Spacecraft attitude and gyro-bias estimation with a single magnetometer on SO(3)xRn,"
*Proceedings of the AIAA Scitech Forum*, January 2022, AIAA 2022-0616.

2021

- T. Lee, M. Tao, M. Leok, "Variational symplectic accelerated optimization on Lie groups,"
*Proceedings of IEEE Conference on Decision and Control*, pp. 233 -- 240, December 2021. - T. C, T. Lee, "Geometric optimal controls for flapping wing UAV on a Lie group,"
*IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control*, October 2021. - L. Lin, D. Yan, T. Lee, M. Keidar, "Self-adaptive plasma chemistry and intelligent plasma medicine,"
*Advanced Intelligent Systems*, October 2021, doi:10.1002/aisy.202100112. - K. Gamagedara, T. Lee, M. Snyder, "Quadrotor state estimation with IMU and delayed real-time kinematic GPS,"
*IEEE Transactions on Aerospace and Electronic Systems*, 57(5):2661 -- 2673, October 2021, doi:10.1109/TAES.2021.3061795. - W. Wang, T. Lee, "Bingham--gaussian distribution on S2xRn for unscented attitude estimation,"
*Proceedings of IEEE International Conference on Multisensor Fusion and Integration*, September 2021. - K. Gamagedara, T. Lee, M. Snyder, "Unscented Kalman filter for INS/GNSS data fusion with time delay,"
*Proceedings of AIAA Aviation Forum*, August 2021, AIAA 2021-2486. - M. Snyder, K. Gamagedara, T. Lee, J. Pritchard, "In situ detection and analysis of ship air wakes from a US navy research vessel,"
*Proceedings of AIAA Aviation Forum*, August 2021, AIAA 2021-2485. - M. Bisheban, T. Lee, "Geometric adaptive control with neural networks for a quadrotor UAV in wind fields,"
*IEEE Transactions on Control Systems Technology*, 29(4):1533--1548, July 2021, doi:10.1109/TCST.2020.3006184. - T. Lee, "Stochastic attitude smoothing and interpolation on SO(3) with matrix Fisher distributions,"
*Proceedings of the American Control Conference*, pp. 1161 -- 1167, May 2021. - T. C, M. Sridhar, C. Kang, T. Lee, "Effects of abdomen undulation in energy consumption and stability for the flights of monarch butterfly,"
*Bioinspiration and Biomemetics*, 16(4):046003, May 2021, doi:10.1088/1748-3190/abce4d. - T. C, C. Kang, T. Lee, "Dynamics and control of a flapping wing UAV with abdomen undulation inspired by Monarch butterfly,"
*Proceedings of the American Control Conference*, pp. 66 -- 71, May 2021. - M. Sridhar, C. Kang, D. Landrum, H. Aono, S. Mathis, T. Lee, "Effects of flight altitude on the lift generation of monarch butterflies: from sea level to overwintering mountain,"
*Bioinspiration and Biomemetics*, 16:034002, March 2021, doi:https://doi.org/10.1088/1748-3190/abe108. - W. Wang, T. Lee, "Higher-order central moments of matrix Fisher distribution on SO(3),"
*Statistics and Probability Letters*, 169February 2021, doi:https://doi.org/10.1016/j.spl.2020.108983. - M. Sridhar, J. Pohly, C. Kang, T. Lee, H. Aono, "Effects of vein structures on fluid-structure interaction of flexible flapping wings at high altitudes,"
*Proceedings of the AIAA Scitech Forum*, January 2021, AIAA 2021-0963.

2020

- T. Lee, M. Keidar, "Adaptive plasma and machine learning,"
*Plasma Cancer Therapy*, pp. 223--250, Springer, 2020. - B. Yu, K. Gamagedara, S. Kim, T. Lee, J. Suk, "Geometric control and experimental validation for a quadrotor UAV transporting a payload,"
*Proceedings of IEEE Conference on Decision and Control*, pp. 201--207, December 2020. - W. Wang, T. Lee, "Spectral uncertainty propagation for generalized stochastic hybrid systems with applications to a bouncing ball,"
*Proceedings of the American Control Conference*, pp. 1803--1808, July 2020. - T. Lee, "Adaptive learning Kalman filter with Gaussian process,"
*Proceedings of the American Control Conference*, pp. 4442--4447, July 2020. - H. Sharma, T. Lee, M. Patil, C. Woolsey, "Symplectic accelerated optimization on SO(3) with Lie group variational integrators,"
*Proceedings of the American Control Conference*, pp. 2826--2831, July 2020. - W. Wang, T. Lee, "Matrix Fisher--Gaussian distribution on so(3)xrn for attitude estimation with a gyro bias,"
*Proceedings of the American Control Conference*, pp. 4429--4434, July 2020. - W. Wang, T. Lee, "Spectral bayesian estimation for general stochastic hybrid systems,"
*Automatica*, 117July 2020, doi:10.1016/j.automatica.2020.108989. - L. Lin, Z. Hou, X. Yao, Y. Liu, J. Sirigiri, T. Lee, M. Keidar, "Introducing adaptive cold atmospheric plasma: The perspective of adaptive cold plasma cancer treatments based on real-time electrochemical impedance spectroscopy,"
*Physics of Plasma*, 27(6):063501, June 2020, doi:10.1063/5.0003528. - E. Kaufman, K. Takami, Z. Ai, T. Lee, "Bayesian mapping-based autonomous exploration and patrol of 3D structured indoor environments with multiple flying robots,"
*Journal of Intelligent and Robotic Systems*, 98:403--419, May 2020, doi:10.1007/s10846-019-01066-2. - M. Sridhar, C. Kang, T. Lee, "Geometric formulation for the dynamics of Monarch butterfly with the effects of abdomen undulation,"
*Proceedings of the AIAA Scitech Forum*, January 2020, AIAA 2020-1962.

2019

- K. Gamagedara, T. Lee, D. Chang, "Attitude observer on SO(3) with time-varying reference directions,"
*Proceedings of the European Control Conference*, pp. 4034--4039, July 2019. - H. Sharma, T. Lee, "Energy-preserving, adaptive time-step Lie group variational integrators for the attitude dynamics of a rigid body,"
*Proceedings of the American Control Conference*, pp. 5487--5492, June 2019. - K. Gamagedara, M. Bisheban, E. Kaufman, T. Lee, "Geometric controls of a quadrotor with a decoupled yaw control,"
*Proceedings of the American Control Conference*, June 2019. - Y. Lyu, L. Lin, E. Gjika, T. Lee, M. Keidar, "Mathematical modeling and control for cancer treatment with cold atmospheric plasma jet,"
*Journal of Physics D: Applied Physics*, 52(18):185202, May 2019, doi:10.1088/1361-6463/ab061d. - S. Kulumani, T. Lee, "Systematic design of optimal low-thrust transfers for the three-body problem,"
*Journal of the Astronautical Sciences*, 66(1):1--31, March 2019, doi:10.1007/s40295-018-00139-y. - J. Pohly, C. Kang, M. Sridhar, D. Landrum, F. Fahimi, J. Bluman, H. Aono, T. Lee, "Scaling bioinspired Mars flight vehicles for hover,"
*Proceedings of the AIAA Scitech Forum*, January 2019, AIAA 2019-0567. - T. Lee, "Spacecraft attitude estimation with a single magnetometer using matrix Fisher distributions on SO(3),"
*Proceedings of the AIAA Guidance, Navigation and Control Conference*, January 2019, AIAA 2019-1173. - K. Gamagedara, T. Lee, M. Snyder, "Real-time kinematics GPS based telemetry system for airborne measurements of ship air wake,"
*Proceedings of AIAA Aerospace Sciences Meeting*, January 2019, AIAA 2019-2377. - E. Kaufman, T. Lee, "Autonomous aerial exploration for topological mapping of Mars environments,"
*Proceedings of the AIAA Guidance, Navigation and Control Conference*, January 2019, AIAA 2019-1915.

2018

- T. Lee, M. Leok, N. H. McClamroch, "Global Formulation of Lagrangian and Hamiltonian Dynamics on Manifolds," Springer, 2018.
- M. Bisheban, T. Lee, "Geometric adaptive control for a quadrotor UAV with wind disturbance rejection,"
*Proceedings of IEEE Conference on Decision and Control*, pp. 2816--2821, December 2018. - T. Lee, "Bayesian attitude estimation with approximate matrix Fisher distributions on SO(3),"
*Proceedings of IEEE Conference on Decision and Control*, pp. 5319--5325, December 2018. - E. Kaufman, K. Takami, T. Lee, Z. Ai, "Autonomous exploration with exact inverse sensor models,"
*Journal of Intelligent and Robotic Systems*, 92(3--4):435--452, December 2018, doi:10.1007/s10846-017-0710-7. - T. Lee, D. Chang, Y. Eun, "Semi-global non-memoryless attitude controls on the special orthogonal group,"
*ASME Journal of Dynamic Systems, Measurement, and Control*, 141(2):021005, October 2018, doi:10.1115/1.4041447. - T. Lee, "Bayesian attitude estimation with the matrix Fisher distribution on SO(3),"
*IEEE Transactions on Automatic Control*, 63(10):3377--3392, October 2018, doi:10.1109/TAC.2018.2797162. - S. Kulumani, T. Lee, "Real time adaptive shape reconstruction for asteroid landing,"
*Proceedings of the AAS/AIAA Astrodynamics Specialist Conference*, August 2018, AAS 18-319. - Z. Zhao, G. Cruz, T. Lee, D. Bernstein, "Adaptive attitude control of a dual-rigid-body spacecraft with unmodeled nonminimum-phase dynamics,"
*Proceedings of the American Control Conference*, pp. 2503--2508, June 2018. - L. Simon, R. Agnes, K. Gamagedara, K. Takami, M. Snyder, T. Lee, "Studies on autonomous landing of an unmanned aerial vehicle on a vessel,"
*Proceedings of AIAA Information Systems*, January 2018, AIAA 2018-1461. - K. Takami, T. Lee, "Environment dependent depth enhancement with multi-modal sensor fusion learning,"
*Proceedings of the IEEE International Conference on Robotic Computing*, pp. 232--237, January 2018. - E. Kaufman, K. Takami, T. Lee, "Autonomous quadrotor 3d mapping and exploration using exact occupancy probabilities,"
*Proceedings of the IEEE International Conference on Robotic Computing*, pp. 49--55, January 2018. - T. Lee, "Geometric control of quadrotor UAVs transporting a cable-suspended rigid body,"
*IEEE Transactions on Control Systems Technology*, 26(1):255--264, January 2018, doi:10.1109/TCST.2017.2656060.

2017

- S. Kulumani, T. Lee, "Constrained geometric attitude control on SO(3),"
*International Journal of Control, Automation, and Systems*, 15(6):2796--2809, December 2017, doi:10.1007/s12555-016-0607-4. - F. Goodarzi, T. Lee, "Global formulation of an extended Kalman filter on SE(3) for geometric control of a quadrotor UAV,"
*Journal of Intelligent and Robotic Systems*, 88(2--4):395--416, December 2017, doi:10.1007/s10846-017-0525-6. - M. Bisheban, T. Lee, "Computational geometric system identification for the attitude dynamics on SO(3),"
*International Journal of Control, Automation, and Systems*, 15(6):2776--2785, December 2017, doi:10.1007/s12555-016-0714-2. - T. Wu, B. Flewelling, F. Leve, T. Lee, "Spacecraft attitude formation tracking using line-of-sight measurements,"
*AIAA Journal of Guidance, Control, and Dynamics*, 40(10):2616--2629, October 2017, doi:10.2514/1.G001727. - S. Kulumani, K. Takami, T. Lee, "Geometric control for autonomous landing on asteroid Itokawa using visual localization,"
*Proceedings of the AAS/AIAA Astrodynamics Specialist Conference*, August 2017, AAS 17-720. - M. Bisheban, T. Lee, "Computational geometric identification for the quadrotor dynamics in wind fields,"
*Proceedings of the IEEE Conference on Control Technology and Applications*, pp. 1153--1158, August 2017. - M. Bisheban, T. Lee, "Computational geometric system identification for the attitude dynamics on SO(3),"
*Proceedings of the American Control Conference*, pp. 2249--2254, May 2017. - T. Lee, D. Chang, Y. Eun, "Attitude control strategies overcoming the topological obstruction on SO(3),"
*Proceedings of the American Control Conference*, pp. 4942--4947, May 2017. - S. Kulumani, T. Lee, "Bayesian attitude estimation on SO(3) with matrix Fisher mixtures,"
*Proceedings of the AIAA/AAS Spaceflight Mechanics Meeting*, February 2017, {AAS} 17-324. - C. Mallon, B. Muthig, K. Gamagedara, K. Patil, C. Friedman, T. Lee, M. Snyder, "Measurements of ship air wake using airborne anemometers,"
*Proceedings of AIAA Aerospace Sciences Meeting*, January 2017, AIAA 2017-0252.

2016

- T. Lee, M. Leok, N. H. McClamroch, "Geometric formulations of Furuta pendulum control problems,"
*Mathematics in engineering, science and aerospace*, 7(1):69--81, 2016. - J. Dougherty, T. Lee, "Monocular estimation of ground orientation for autonomous landing of a quadrotor,"
*AIAA Journal of Guidance, Control, and Dynamics*, 39(6):1407--1416, 2016, doi:10.2514/1.G001229. - E. Kaufman, Z. Ai, T. Lee, "Autonomous exploration by expected information gain from probabilisitic occupancy grid mapping,"
*Proceedings of the IEEE Conference on Simulation, Modeling, and Programming for Autonomous Robots*, December 2016. - T. Lee, "Optimal hybrid controls for global exponential tracking on the two-sphere,"
*Proceedings of the IEEE Conference on Decision and Control*, pp. 3331--3337, Las Vegas, NV, December 2016. - F. Goodarzi, T. Lee, "Stabilization of a rigid body payload with multiple cooperative quadrotors,"
*ASME Journal of Dynamic Systems, Measurement, and Control*, 138(12):121001--121001--17, December 2016, doi:10.1115/1.4033945. - E. Kaufman, T. Lovell, T. Lee, "Minimum uncertainty JPDA filters and coalescence avoidance for multiple object tracking,"
*Journal of the Astronautical Sciences*, 63(4):308--334, December 2016, doi:10.1007/s40295-016-0092-2. - T. Wu, T. Lee, "Angular velocity observer for velocity-free attitude tracking control on SO(3),"
*International Journal of Control, Automation, and Systems*, 14(5):1289--1298, October 2016, doi:10.1007/s12555-015-0163-3. - S. Kulumani, T. Lee, "Low-thrust trajectory design using reachability sets near asteroid 4769 Castalia,"
*Proceedings of the AIAA/AAS Astrodynamics Specialist Conference*, September 2016, AIAA 2016-5376. - E. Kaufman, T. Lee, Z. Ai, I. Moskowitz, "Bayesian occupancy grid mapping via an exact inverse sensor model,"
*Proceedings of the American Control Conference*, pp. 5709--5715, Boston, MA, July 2016. - S. Kulumani, C. Poole, T. Lee, "Geometric adaptive control of attitude dynamics on SO(3) with state inequality constraint,"
*Proceedings of the American Control Conference*, pp. 4936--4941, Boston, MA, July 2016. - T. Lee, "Global unscented attitude estimation via the matrix Fisher distributions on SO(3),"
*Proceedings of the American Control Conference*, pp. 4942--4947, Boston, MA, July 2016. - F. Goodarzi, T. Lee, "Extended Kalman filter on SE(3) for geometric control of a quadrotor UAV,"
*Proceedings of the IEEE International Conference on Unmanned Aircraft Systems*, pp. 1371--1380, Washington, DC, June 2016. - E. Kaufman, T. Lovell, T. Lee, "Nonlinear observability for relative orbit determination with angles-only measurements,"
*Journal of the Astronautical Sciences*, 63(1):60--80, March 2016, doi:10.1007/s40295-015-0082-9. - K. Lee, C. Park, T. Lee, S. Park, "Spacecraft formation keeping via discrete-time Hamilton-Jacobi theory,"
*Proceedings of the AIAA Guidance, Navigation and Control Conference*, January 2016, AIAA 2016-0874.

2015

- N. H. McClamroch, T. Lee, "Optimal flight planning for a jet aircraft mission,"
*Case Studies in Operations Research*,*International Series in Operations Research and Management Science*, pp. 355--390, Springer, 2015. - T. Wu, E. Kaufman, T. Lee, "Globally asymptotically stable attitude observer on SO(3),"
*Proceedings of the IEEE Conference on Decision and Control*, pp. 2164--2168, Osaka, Japan, December 2015. - T. Lee, "Geometric controls for a tethered quadrotor UAV,"
*Proceedings of the IEEE Conference on Decision and Control*, pp. 2749--2754, Osaka, Japan, December 2015. - T. Lee, M. Leok, N. H. McClamroch, "Global formulations of Lagrangian and Hamiltonian mechanics on two-spheres,"
*Proceedings of the IEEE Conference on Decision and Control*, pp. 6010--6015, Osaka, Japan, December 2015. - F. Goodarzi, D. Lee, T. Lee, "Geometric control of a quadrotor UAV transporting a payload connected to a quadrotor UAV via flexible cable,"
*International Journal of Control, Automation, and Systems*, 13(6):1--13, December 2015, doi:10.1007/s12555-014-0304-0. - T. Lee, "Global exponential attitude tracking controls on SO(3),"
*IEEE Transactions on Automatic Control*, 60(10):2837--2842, October 2015, doi:10.1109/TAC.2015.2407452. - T. Lee, M. Leok, N. H. McClamroch, "Global formulations of Lagrangian and Hamiltonian dynamics on embedded manifolds,"
*Proceedings of the IMA Conference on Mathematics of Robotics*, September 2015. - T. Lee, "Geometric adaptive control for aerial transportation of a rigid body,"
*Proceedings of the IMA Conference on Mathematics of Robotics*, September 2015. - F. Goodarzi, D. Lee, T. Lee, "Geometric adaptive tracking control of a quadrotor unmanned aerial vehicle on SE(3),"
*ASME Journal of Dynamic Systems, Measurement, and Control*, 137(9)September 2015, doi:10.1115/1.4030419. - S. Kulumani, T. Lee, "Systematic design of optimal low-thrust transfers for the three-body problem,"
*Proceedings of the AIAA/AAS Astrodynamics Specialist Conference*, August 2015, AAS 15-757. - T. Lee, F. Leve, M. Leok, N. H. McClamroch, "Lie group variational integrators for spacecraft with variable speed control moment gyros,"
*Proceedings of the U.S. National Congress on Computational Mechanics*, July 2015. - T. Wu, T. Lee, "Angular velocity observer on the special orthogonal group for velocity-free rigid-body attitude tracking control,"
*Proceedings of the European Control Conference*, pp. 1824--1829, Linz, Austria, July 2015. - F. Goodarzi, T. Lee, "Dynamics and control of quadrotor UAVs transporting a rigid body connected via flexible cables,"
*Proceedings of the American Control Conference*, pp. 4677--4682, July 2015. - T. Lee, "Collision avoidance via Voronoi tessellation for quadrotor UAVs transporting a payload,"
*Proceedings of the American Control Conference*, pp. 1842--1848, July 2015. - E. Kaufman, T. Lee, "Geometric adaptive control for aerial transportation of a rigid body," .
- T. Lee, "Stochastic optimal motion planning for the attitude kinematics of a rigid body with non-gaussian uncertainties,"
*ASME Journal of Dynamic Systems, Measurement, and Control*, 137(3):034502, March 2015, doi:10.1115/1.4027950. - E. Kaufman, A. Lovell, T. Lee, "Nonlinear observability measure for relative orbit determination with angles-only measurements,"
*Proceedings of the AAS/AIAA Space Flight Mechanics Meeting*, February 2015, AAS 15-451. - T. Wu, T. Lee, "Spacecraft attitude formation stabilization using lines-of-sight without angular velocity measurements,"
*Proceedings of the AAS/AIAA Space Flight Mechanics Meeting*, February 2015, AAS 15-441. - E. Kaufman, A. Lovell, T. Lee, "Minimum uncertainty JPDA filter and coalescence avoidance performance evaluations,"
*Proceedings of the AAS/AIAA Space Flight Mechanics Meeting*, February 2015, AAS 15-451.

2014

- S. Dai, T. Lee, D. Bernstein, "Adaptive control of a quadrotor UAV transporting a cable-suspended load with unknown mass,"
*Proceedings of the IEEE Conference on Decision and Control*, pp. 6149--6154, December 2014. - T. Wu, T. Lee, "Spacecraft position and attitude formation control using line-of-sight observations,"
*Proceedings of the IEEE Conference on Decision and Control*, pp. 970--975, December 2014. - T. Lee, "Geometric control of multiple quadrotor UAVs transporting a cable-suspended rigid body,"
*Proceedings of the IEEE Conference on Decision and Control*, pp. 6155--6160, December 2014. - T. Lee, "Optimal control of partitioned hybrid systems via discrete-time Hamilton-Jacobi theory,"
*Automatica*, 50(8):2062--2069, August 2014, doi:10.1016/j.automatica.2014.05.024. - T. Lee, F. Leve, "Lagrangian mechanics and Lie group variational integrators for spacecraft with imbalanced reaction wheels,"
*Proceedings of the American Control Conference*, pp. 3122--3127, June 2014. - F. Goodarzi, D. Lee, T. Lee, "Geometric stabilization of a quadrotor UAV with a payload connected by flexible cable,"
*Proceedings of the American Control Conference*, pp. 4925--4930, June 2014. - J. Dougherty, D. Lee, T. Lee, "Laser-based guidance of a quadrotor UAV for precise landing on an inclined surface,"
*Proceedings of the American Control Conference*, pp. 1210--1215, June 2014. - T. Lee, M. Leok, N. H. McClamroch, "High-fidelity numerical simulation of complex dynamics of tethered spacecraft,"
*Acta Astronautica*, 99(1):215--230, June 2014, doi:10.1016/j.actaastro.2014.02.021. - E. Kaufman, T. Lee, "Optimal joint probabilistic data association filter avoiding coalescence in close proximity,"
*Proceedings of the European Control Conference*, pp. 2709--2714, June 2014. - T. Lovell, T. Lee, "Nonlinear observability for relative satellite orbits with angles-only measurements,"
*Proceedings of the International Symposium on Space Flight Dynamics*, May 2014. - E. Kaufman, K. Caldwell, D. Lee, T. Lee, "Design and development of a free-floating hexrotor UAV for 6-dof maneuvers,"
*Proceedings of the IEEE Aerospace Conference*, March 2014.

2013

- T. Lee, "Stochastic optimal motion planning and global estimation for the attitude kinematics on SO(3),"
*Proceedings of the IEEE Conference on Decision and Control*, Florence, Italy, December 2013. - T. Lee, K. Sreenath, V. Kumar, "Geometric control of cooperating multiple quadrotor UAVs with a suspended load,"
*Proceedings of the IEEE Conference on Decision and Control*, Florence, Italy, December 2013. - K. Sreenath, T. Lee, V. Kumar, "Geometric control and differential flatness of a quadrotor UAV with a cable-suspended load,"
*Proceedings of the IEEE Conference on Decision and Control*, pp. 2269--2274, Florence, Italy, December 2013. - T. Lee, M. Keidar, "Low-thrust orbital maneuver analysis for Cubesat with micro-cathode thruster,"
*Proceedings of the International Electric Propulsion Conference*, Washington, DC, October 2013, IEPC-2013-365. - T. Wu, T. Lee, M. Keidar, "Low-thrust attitude control for nano-satellite with micro-cathode thrusters,"
*Proceedings of the International Electric Propulsion Conference*, Washington, DC, October 2013, IEPC-2013-366. - T. Lee, "Robust adaptive tracking on SO(3) with an application to the attitude dynamics of a quadrotor UAV,"
*IEEE Transactions on Control Systems Technology*, 21(5):1924--1930, September 2013, doi:10.1109/TCST.2012.2209887. - M. Camblor, A. Xie, G. Cruz, S. Esteban, T. Lee, D. Bernstein, "A numerical comparison of inertia-free attitude control laws for a spacecraft with a discrete flexible mode,"
*Proceedings of the AIAA Guidance, Navigation and Control Conference*, Boston, MA, August 2013, AIAA 2013-4562. - F. Goodarzi, D. Lee, T. Lee, "Geometric nonlinear PID control of a quadrotor UAV on SE(3),"
*Proceedings of the European Control Conference*, pp. 3845--3850, Zurich, July 2013. - T. Lee, "Robust global exponential attitude tracking controls on SO(3),"
*Proceedings of the American Control Conference*, pp. 2103--2108, Washington, DC, June 2013. - T. Wu, B. Flewelling, F. Leve, T. Lee, "Spacecraft relative attitude formation tracking on SO(3) based on line-of-sight measurements,"
*Proceedings of the American Control Conference*, pp. 4827--4832, Washington, DC, June 2013. - T. Lee, M. Leok, N. H. McClamroch, "Nonlinear robust tracking control of a quadrotor UAV on SE(3),"
*Asian Journal of Control*, 15(2):391--408, March 2013, doi:10.1002/asjc.567.

2012

- T. Lee, M. Leok, N. H. McClamroch, "Dynamics and control of a chain pendulum on a cart,"
*Proceedings of the IEEE Conference on Decision and Control*, pp. 2502--2508, Maui, HI, December 2012. - T. Lee, "Discrete-time optimal feedback control via the discrete Hamilton-Jacobi theory with applications to hybrid systems,"
*Proceedings of the IEEE Conference on Decision and Control*, pp. 7055--7062, Maui, HI, December 2012. - T. Lee, M. Leok, "Computational geometric uncertainty propagation and global estimation for Hamiltonian systems on a Lie group,"
*Proceedings of the NSF CMMI Research and Innovation Conference*, July 2012. - T. Lee, M. Leok, N. H. McClamroch, "Nonlinear robust tracking control of a quadrotor UAV on SE(3),"
*Proceedings of the American Control Conference*, pp. 4649--4654, Montreal, Canada, June 2012. - T. Lee, "Relative attitude control of two spacecraft on SO(3) using line-of-sight observations,"
*Proceedings of the American Control Conference*, pp. 167--172, Montreal, Canada, June 2012. - T. Lee, "Exponential stability of an attitude tracking control system on SO(3) for large-angle rotational maneuvers,"
*Systems and Control Letters*, 61(1):231--237, January 2012, doi:10.1016/j.sysconle.2011.10.017.

2011

- T. Fernando, J. Chandiramani, T. Lee, H. Gutierrez, "Robust adaptive geometric tracking controls on SO(3) with an application to the attitude dynamics of a quadrotor UAV,"
*Proceedings of the IEEE Conference on Decision and Control*, pp. 7380--7385, Orlando, FL, December 2011. - T. Lee, M. Leok, N. H. McClamroch, "Stable manifolds of saddle points for pendulum dynamics on S2 and SO(3),"
*Proceedings of the IEEE Conference on Decision and Control*, pp. 3915--3921, Orlando, FL, December 2011. - T. Lee, M. Leok, N. H. McClamroch, "Geometric tracking control of a quadrotor UAV for extreme maneuverability,"
*Proceedings of the World Congress of the International Federation of Automatic Control*, pp. 6337--6342, Milano, Italy, August 2011. - T. Lee, M. Leok, N. H. McClamroch, "Geometric numerical integration for complex dynamics of tethered spacecraft,"
*Proceedings of the American Control Conference*, pp. 1885--1891, San Francisco, CA, June 2011. - T. Lee, "Geometric tracking control of the attitude dynamics of a rigid body on SO(3),"
*Proceedings of the American Control Conference*, pp. 1200--1205, San Francisco, CA, June 2011. - T. Lee, M. Leok, N. H. McClamroch, "Computational dynamics of a 3D elastic string pendulum attached to a rigid body and an inertially fixed reel mechanism,"
*Nonlinear Dynamics*, 64(1-2):97--115, April 2011, doi:10.1007/s11071-010-9849-5. - T. Lee, M. Leok, "Computational geometric uncertainty propagation for Hamiltonian systems on a Lie group,"
*Proceedings of the NSF CMMI Research and Innovation Conference*, February 2011. - N. Chaturvedi, T. Lee, M. Leok, N. H. McClamroch, "Nonlinear dynamics of the 3D pendulum,"
*Journal of Nonlinear Science*, 21(1):3--32, February 2011, doi:10.1007/s00332-010-9078-6.

2010

- T. Lee, M. Leok, N. H. McClamroch, "Geometric tracking control of a quadrotor UAV on SE(3),"
*Proceedings of the IEEE Conference on Decision and Control*, pp. 5420--5425, Atlanta, GA, December 2010. - I. Kolmanovsky, T. Lee, A. Sanyal, J. Shen, "Harrisfest [conference reports],"
*IEEE Control Systems Magazine*, :81--83, October 2010, doi:10.1109/MCS.2010.937816. - T. Lee, M. Leok, N. H. McClamroch, "Computational geometric optimal control of connected rigid bodies in a perfect fluid,"
*Proceedings of the American Control Conference*, pp. 5985--5990, Baltimore, MD, June 2010, URL:http://arxib.org/abs/0705.3868.

2009

- T. Lee, M. Leok, N. H. McClamroch, "Discrete control systems,"
*the Encyclopedia of Complexity and System Science*, pp. 2002--2019, Springer, 2009. - T. Lee, M. Leok, N. H. McClamroch, "Dynamics of a 3D elastic string pendulum,"
*Proceedings of IEEE Conference on Decision and Control*, pp. 3347--3352, Shanghai, China, December 2009. - T. Lee, M. Leok, N. H. McClamroch, "Lagrangian mechanics and variational integrators on two-spheres,"
*International Journal for Numerical Methods in Engineering*, 79(9):1147--1174, August 2009, doi:10.1002/nme.2603. - T. Lee, M. Leok, N. H. McClamroch, "Dynamics of connected rigid bodies in a perfect fluid,"
*Proceedings of the American Control Conference*, pp. 408--413, St. Louis, MO, June 2009.

2008

- T. Lee, M. Leok, N. H. McClamroch, "Computational geometric optimal control of rigid bodies,"
*Communications in Information and Systems, special issue dedicated to R. W. Brockett*, 8(4):445--472, 2008. - T. Lee, "Computational Geometric Mechanics and Control of Rigid Bodies," University of Michigan, 2008.
- T. Lee, M. Leok, N. H. McClamroch, "Global symplectic uncertainty propagation on SO(3),"
*Proceedings of the IEEE Conference on Decision and Control*, pp. 61--66, Cancun, Mexico, December 2008. - T. Lee, M. Leok, N. H. McClamroch, "Optimal attitude control of a rigid body using geometrically exact computations on SO(3),"
*Journal of Dynamical and Control Systems*, 14(4):465--487, October 2008, doi:10.1007/s10883-008-9047-7. - T. Lee, M. Leok, N. H. McClamroch, "Time optimal attitude control for a rigid body,"
*Proceedings of the American Control Conference*, pp. 5210--5215, Seattle, WA, June 2008. - A. Sanyal, T. Lee, M. Leok, N. H. McClamroch, "Global optimal attitude estimation using uncertainty ellipsoids,"
*Systems and Control Letters*, 57(3):236--245, March 2008, doi:10.1016/j.sysconle.2007.08.014.

2007

- T. Lee, M. Leok, N. H. McClamroch, "A combinatorial optimal control problem for spacecraft formation reconfiguration,"
*Proceedings of the IEEE Conference on Decision and Control*, pp. 5370--5375, New Orleans, LA, December 2007. - T. Lee, N. Chaturvedi, A. Sanyal, M. Leok, N. H. McClamroch, "Propagation of uncertainty in rigid body attitude flows,"
*Proceedings of the IEEE Conference on Decision and Control*, pp. 2689--2694, New Orleans, LA, December 2007. - T. Lee, M. Leok, N. H. McClamroch, "Optimal attitude control for a rigid body with symmetry,"
*Proceedings of the American Control Conference*, pp. 1073--1078, New York, NY, July 2007. - T. Lee, M. Leok, N. H. McClamroch, A. Sanyal, "Global attitude estimation using single direction measurements,"
*Proceedings of the American Control Conference*, pp. 3659--3664, New York, NY, July 2007. - T. Lee, M. Leok, N. H. McClamroch, "Lie group variational integrators for the full body problem in orbital mechanics,"
*Celestial Mechanics and Dynamical Astronomy*, 98(2):121--144, June 2007, doi:10.1007/s10569-007-9073-x. - T. Lee, M. Leok, N. H. McClamroch, "Lie group variational integrators for the full body problem,"
*Computer Methods in Applied Mechanics and Engineering*, 196:2907--2924, May 2007, doi:10.1016/j.cma.2007.01.017.

2006

- T. Lee, M. Leok, N. H. McClamroch, "Optimal control of a rigid body using geometrically exact computations on SE(3),"
*Proceedings of the IEEE Conference on Decision and Control*, pp. 2170--2175, San Diego, CA, December 2006. - T. Lee, A. Sanyal, M. Leok, N. H. McClamroch, "Deterministic global attitude estimation,"
*Proceedings of the IEEE Conference on Decision and Control*, pp. 3174--3179, San Diego, CA, December 2006. - E. Fahnestock, T. Lee, M. Leok, N. H. McClamroch, D. Scheeres, "Polyhedral potential and variational integrator computation of the full two body problem,"
*Proceedings of the AIAA/AAS Astrodynamics Specialist Conference and Exhibit*, Keystone, CO, August 2006, AIAA 2006-6289. - T. Lee, M. Leok, N. H. McClamroch, "Attitude maneuvers of a rigid spacecraft in a circular orbit,"
*Proceedings of the American Control Conference*, pp. 1742--1747, Minneapolis, MN, June 2006.

2005

- T. Lee, M. Leok, N. H. McClamroch, "A Lie group variational integrator for the attitude dynamics of a rigid body with application to the 3D pendulum,"
*Proceedings of the IEEE Conference on Control Application*, pp. 962--967, Toronto, Canada, August 2005.

2001

- T. Lee, Y. Kim, "Nonlinear adaptive flight control using backstepping and neural networks controller,"
*AIAA Journal of Guidance, Control, and Dynamics*, 24(4):675--682, July 2001, doi:10.2514/2.4794.

2000

- T. Lee, Y. Kim, "Nonlinear adaptive flight control using neural networks and backstepping,"
*Journal of Control, Automation and Systems Engineering*, 6(12):1070--1078, 2000. - T. Lee, Y. Kim, D. Kim, "Stability analysis of nonlinear flight control using neural networks,"
*Proceedings of the 3rd Asian Control Conference*, Shanghai, China, July 2000.

1999

- J. Ahn, T. Lee, Y. Kim, "Real time formulation of missile trajectory optimization using a parameter optimization technique,"
*Journal of Korean Society for Aeronautical and Space Sciences*, 27(4):94--103, 1999. - T. Lee, Y. Kim, "Robust nonlinear control of flight dynamics using backstepping controller,"
*Proceedings of the Korean Society for Aeronautical and Space Sciences Fall Conference*, Kyoungki, Korea, November 1999. - T. Lee, Y. Kim, "Nonlinear adaptive control of flight dynamics using backstepping and neural networks controller,"
*Proceedings of the Institute of Control, Automation, and System Engineering 5th Conference*, Yongin, Korea, October 1999. - J. Ahn, T. Lee, Y. Kim, "Real-time missile trajectory optimization using parameter optimization,"
*Proceedings of the Japan Society for Aeronautical and Space Sciences (JSASS) 13th International Sessions in 37th Aircraft Symposium*, Tokyo, Japan, October 1999.