Publications

Featured Book:

Together with Dr. Melvin Leok (UCSD) and Dr. N. Harris McClamroch, we published a research monograph, entitled 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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2023

  1. T. C, T. Lee, "Alternating learning for modular sensorimotor control of a flapping wing UAV," IEEE Robotics and Automation Letters, December 2023, in preparation.

  2. B. Yu, T. Lee, "Sim-to-real transfer for multi-agent reinforcement learning of a quadrotor UAV," IEEE Robotics and Automation Letters, December 2023, in preparation.

  3. T. Lee, "G-learning: Equivariant indirect optimal control with generating function," Proceedings of IEEE Conference on Decision and Control, December 2023, accepted.

  4. K. Gamagedara, T. Lee, M. Snyder, "Delayed Kalman filter for vision-based autonomous flight in ocean environments," Control Engineering Practice, October 2023, submitted.

  5. B. Yu, T. Lee, "Multi-agent reinforcement learning for the low-level control of a quadrotor UAV," Proceedings of the American Control Conference, September 2023, submitted.

  6. T. Lee, "Intermittent stochastic optimal control of the bouncing ball dynamics," Proceedings of the American Control Conference, September 2023, submitted.

  7. C. Kang, M. Sridhar, R. Twigg, J. Pohly, T. Lee, H. Aono, "Power benefits of high-altitude flapping wing flight at Monarch butterfly scale," Biomimetics, 8(4):352, August 2023, doi:10.3390/biomimetics8040352.

  8. B. Yu, T. Lee, "Equivariant reinforcement learning for quadrotor UAV," Proceedings of the American Control Conference, pp. 2842--2847, June 2023.

  9. T. C, T. Lee, "Deep neural pose estimation for a flapping wing unmanned aerial vehicle with visual-inertial sensor fusion," AIAA Scitech Forum, May 2023, accepted.

  10. M. Wickramasuriya, T. Lee, M. Snyder, "Deep monocular relative 6D pose estimation for ship-based autonomous uav," AIAA Scitech Forum, May 2023, AIAA 2023-1789.

  11. 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, March 2023.

  12. M. Tarpley, J. Pohly, C. Kang, T. Lee, H. Aono, "Numerical analysis of flight performance of bioinspired Mars flight vehicles," AIAA Scitech Forum, January 2023, AIAA 2023-1219.

  13. 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, January 2023, AIAA 2023-1789.

  14. Z. Hou, T. Lee, M. Keidar, "In-situ adaptive plasma cancer treatment with electromechanical impedance spectroscopy," IEEE Transactions on Radiation and Plasma Medical Sciences, dec 2023, in preparation.

  15. W. Wang, T. Lee, "INS-GNSS navigation for large attitude uncertanties with the matrix Fisher--Gaussian distribution," Proceedings of the American Control Conference, pp. 4858--4863, may 2023.

2022

  1. 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.

  2. 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.

  3. T. C, T. Lee, "Iterative supervised learning for regression with constraints," International Conference on Ubiquitous Robots, July 2022.

  4. 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.

  5. 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.

  6. 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.

  7. 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.

  8. 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.

  9. 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.

  10. 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.

  11. 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

  1. 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.

  2. 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.

  3. 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.

  4. 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.

  5. 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.

  6. 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.

  7. 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.

  8. 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.

  9. 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.

  10. 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.

  11. 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.

  12. 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.

  13. 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.

  14. 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

  1. T. Lee, M. Keidar, "Adaptive plasma and machine learning," Plasma Cancer Therapy, pp. 223--250, Springer, 2020.

  2. 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.

  3. 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.

  4. T. Lee, "Adaptive learning Kalman filter with Gaussian process," Proceedings of the American Control Conference, pp. 4442--4447, July 2020.

  5. 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.

  6. 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.

  7. W. Wang, T. Lee, "Spectral bayesian estimation for general stochastic hybrid systems," Automatica, 117July 2020, doi:10.1016/j.automatica.2020.108989.

  8. 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.

  9. 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.

  10. 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

  1. 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.

  2. 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.

  3. 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.

  4. 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.

  5. 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.

  6. 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.

  7. 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.

  8. 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.

  9. 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

  1. T. Lee, M. Leok, N. H. McClamroch, "Global Formulation of Lagrangian and Hamiltonian Dynamics on Manifolds," Springer, 2018.

  2. 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.

  3. 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.

  4. 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.

  5. 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.

  6. 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.

  7. 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.

  8. 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.

  9. 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.

  10. 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.

  11. 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.

  12. 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

  1. 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.

  2. 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.

  3. 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.

  4. 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.

  5. 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.

  6. 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.

  7. 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.

  8. 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.

  9. 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.

  10. 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

  1. 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.

  2. 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.

  3. 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.

  4. 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.

  5. 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.

  6. 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.

  7. 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.

  8. 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.

  9. 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.

  10. 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.

  11. 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.

  12. 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.

  13. 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.

  14. 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

  1. 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.

  2. 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.

  3. 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.

  4. 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.

  5. 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.

  6. 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.

  7. 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.

  8. T. Lee, "Geometric adaptive control for aerial transportation of a rigid body," Proceedings of the IMA Conference on Mathematics of Robotics, September 2015.

  9. 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.

  10. 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.

  11. 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.

  12. 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.

  13. 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.

  14. T. Lee, "Collision avoidance via Voronoi tessellation for quadrotor UAVs transporting a payload," Proceedings of the American Control Conference, pp. 1842--1848, July 2015.

  15. E. Kaufman, T. Lee, "Geometric adaptive control for aerial transportation of a rigid body," .

  16. 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.

  17. 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.

  18. 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.

  19. 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

  1. 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.

  2. 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.

  3. 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.

  4. 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.

  5. 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.

  6. 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.

  7. 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.

  8. 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.

  9. 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.

  10. 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.

  11. 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

  1. 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.

  2. 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.

  3. 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.

  4. 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.

  5. 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.

  6. 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.

  7. 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.

  8. 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.

  9. T. Lee, "Robust global exponential attitude tracking controls on SO(3)," Proceedings of the American Control Conference, pp. 2103--2108, Washington, DC, June 2013.

  10. 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.

  11. 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

  1. 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.

  2. 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.

  3. 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.

  4. 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.

  5. 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.

  6. 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

  1. 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.

  2. 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.

  3. 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.

  4. 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.

  5. 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.

  6. 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.

  7. 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.

  8. 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

  1. 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.

  2. 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.

  3. 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

  1. T. Lee, M. Leok, N. H. McClamroch, "Discrete control systems," the Encyclopedia of Complexity and System Science, pp. 2002--2019, Springer, 2009.

  2. 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.

  3. 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.

  4. 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

  1. 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.

  2. T. Lee, "Computational Geometric Mechanics and Control of Rigid Bodies," University of Michigan, 2008.

  3. 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.

  4. 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.

  5. 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.

  6. 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

  1. 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.

  2. 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.

  3. 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.

  4. 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.

  5. 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.

  6. 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

  1. 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.

  2. 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.

  3. 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.

  4. 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

  1. 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

  1. 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

  1. 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.

  2. 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

  1. 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.

  2. 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.

  3. 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.

  4. 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.