Publication

list of publications

This research monograph 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.

Books

  1. T. Lee, M. Leok, N. H. McClamroch, "Global Formulations of Lagrangian and Hamiltonian Dynamics on Manifolds", Springer, 2018, doi:10.1007/978-3-319-56953-6

Journal Articles

  1. G. Chirikjian, T. Lee, "Rotational trajectory synopsis groups", Frontiers in Robotics and AI, 2026, accepted
  2. T. K. C., W. Clark, T. Lee, "Transfer operators for stochastic hybrid systems on manifolds with guard-induced resets", IEEE Transactions on Automatic Control, 2026, submitted
  3. K. Simon, M. Wickramasuriya, T. Lee, M. Snyder, "Light-detection-and-ranging--based unmanned aerial vehicle pose estimation in ocean environment with deep point transformer network", AIAA Journal of Guidance, Control, and Dynamics, 49(8), 2277--2290, 2026, doi:10.2514/1.G009615
  4. T. K. C., M. Wickramasuriya, S. Bonnabel, A. Barrau, T. Lee, "Invariant Kalman filter for relative dynamics", IEEE Transactions on Automatic Control, 2026, submitted
  5. T. Lee, G. Chirikjian, "Geometric interpretation of Brownian motion on Riemannian manifolds", IEEE Transactions on Automatic Control, 2026, submitted
  6. B. Yu, T. Lee, "Equivariant reinforcement learning frameworks for quadrotor low-level control", IEEE Transactions on Control Systems Technology, 34(1), 86--99, 2026, doi:10.1109/TCST.2025.3599971
  7. T. K. C., T. Lee, "Alternating learning for modular sensorimotor control of a flapping wing unmanned aerial vehicle", ASME Journal of Dynamic Systems, Measurement, and Control, 148(6), 061006, 2026, doi:10.1115/1.4071868
  8. M. Wickramasuriya, T. Lee, M. Snyder, "Deep transformer network for monocular pose estimation of shipborne unmanned aerial vehicle", AIAA Journal of Guidance, Control, and Dynamics, 48(8), 1915--1930, 2025, doi:10.2514/1.G008588
  9. Z. Hou, L. Lin, T. Lee, M. Keidar, "Adaptive cold atmospheric plasma: Demonstration with in vitro cancer treatment experiments", ACS Omega, 10(40), 46569--46592, 2025, doi:10.1021/acsomega.5c03325
  10. B. Yu, T. Lee, "Modular reinforcement learning for a quadrotor UAV with decoupled yaw control", IEEE Robotics and Automation Letters, 10(1), 572--579, 2025, doi:10.1109/LRA.2024.3511412
  11. K. Gamagedara, T. Lee, M. Snyder, "Delayed Kalman filter for vision-based autonomous flight in ocean environments", Control Engineering Practice, 143, 105791, 2024, doi:10.1016/j.conengprac.2023.105791
  12. C. Kang, M. Sridhar, R. Twigg, J. Pohly, T. Lee, H. Aono, "Power benefits of high-altitude flapping wing flight at the monarch butterfly scale", Biomimetics, 8(4), 352, 2023, doi:10.3390/biomimetics8040352
  13. T. K. C., T. Lee, "Constrained imitation learning for a flapping wing unmanned aerial vehicle", IEEE Robotics and Automation Letters, 7(4), 10534--10541, 2022, doi:10.1109/LRA.2022.3194682
  14. 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, 2022, doi:10.1137/21M144147X
  15. L. Lin, D. Yan, T. Lee, M. Keidar, "Self-adaptive plasma chemistry and intelligent plasma medicine", Advanced Intelligent Systems, 4(3), 2100112, 2022, doi:10.1002/aisy.202100112
  16. 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, 2022, doi:10.1109/TRPMS.2021.3094874
  17. W. Wang, K. Gamagedara, T. Lee, "On the observability of attitude with single direction measurements", IEEE Transactions on Automatic Control, 67(9), 4986--4993, 2022, doi:10.1109/TAC.2022.3179214
  18. K. Gamagedara, T. Lee, "Geometric adaptive controls of a quadrotor unmanned aerial vehicle with decoupled attitude dynamics", ASME Journal of Dynamic Systems, Measurement, and Control, 144(3), 031002, 2022, doi:10.1115/1.4052714
  19. W. Wang, T. Lee, "Matrix Fisher--Gaussian distribution on $\mathrm{SO}(3)\times\mathbb{R}^{n}$ and Bayesian attitude estimation", IEEE Transactions on Automatic Control, 67(5), 2175--2191, 2022, doi:10.1109/TAC.2021.3073323
  20. S. Kulumani, T. Lee, "Bayesian shape reconstruction and optimal guidance for autonomous landing on asteroids", Journal of the Astronautical Sciences, 69, 335--367, 2022, doi:10.1007/s40295-022-00310-6
  21. T. Lee, "Real harmonic analysis on the special orthogonal group", International Journal of Analysis and Applications, 20, 21, 2022, doi:10.28924/2291-8639-20-2022-21
  22. 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, 2021, doi:10.1109/TAES.2021.3061795
  23. W. Wang, T. Lee, "Higher-order central moments of matrix Fisher distribution on SO(3)", Statistics and Probability Letters, 169, 108983, 2021, doi:10.1016/j.spl.2020.108983
  24. T. K. C., M. Sridhar, C. Kang, T. Lee, "Effects of abdomen undulation in energy consumption and stability for monarch butterfly", Bioinspiration & Biomimetics, 16(4), 046003, 2021, doi:10.1088/1748-3190/abce4d
  25. 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 & Biomimetics, 16, 034002, 2021, doi:10.1088/1748-3190/abe108
  26. M. Bisheban, T. Lee, "Geometric adaptive control with neural networks for a quadrotor in wind fields", IEEE Transactions on Control Systems Technology, 29(4), 1533--1548, 2021, doi:10.1109/TCST.2020.3006184
  27. 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 Plasmas, 27(6), 063501, 2020, doi:10.1063/5.0003528
  28. T. Lee, M. Keidar, "Adaptive plasma and machine learning", in Plasma Cancer Therapy, Springer, pp. 223--250, 2020
  29. W. Wang, T. Lee, "Spectral Bayesian estimation for general stochastic hybrid systems", Automatica, 117, 108989, 2020, doi:10.1016/j.automatica.2020.108989
  30. 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, 2020, doi:10.1007/s10846-019-01066-2
  31. 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, 2019, doi:10.1088/1361-6463/ab061d
  32. T. Lee, D. Chang, Y. Eun, "Semiglobal nonmemoryless attitude controls on the special orthogonal group", ASME Journal of Dynamic Systems, Measurement, and Control, 141(2), 021005, 2019, doi:10.1115/1.4041447
  33. 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, 2019, doi:10.1007/s40295-018-00139-y
  34. T. Lee, "Bayesian attitude estimation with the matrix Fisher distribution on SO(3)", IEEE Transactions on Automatic Control, 63(10), 3377--3392, 2018, doi:10.1109/TAC.2018.2797162
  35. 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, 2018, doi:10.1007/s10846-017-0710-7
  36. T. Lee, "Geometric control of quadrotor UAVs transporting a cable-suspended rigid body", IEEE Transactions on Control Systems Technology, 26(1), 255--264, 2018, doi:10.1109/TCST.2017.2656060
  37. S. Kulumani, T. Lee, "Constrained geometric attitude control on SO(3)", International Journal of Control, Automation, and Systems, 15(6), 2796--2809, 2017, doi:10.1007/s12555-016-0607-4
  38. 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, 2017, doi:10.1007/s10846-017-0525-6
  39. 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, 2017, doi:10.1007/s12555-016-0714-2
  40. 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, 2017, doi:10.2514/1.G001727
  41. 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
  42. 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, 2016, doi:10.1115/1.4033945
  43. T. Wu, T. Lee, "Angular velocity observer for attitude tracking on SO(3) with the separation property", International Journal of Control, Automation, and Systems, 14(5), 1289--1298, 2016, doi:10.1007/s12555-015-0163-3
  44. 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, 2016, doi:10.1007/s40295-016-0092-2
  45. 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, 2016, doi:10.1007/s40295-015-0082-9
  46. 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
  47. T. Lee, "Global exponential attitude tracking controls on SO(3)", IEEE Transactions on Automatic Control, 60(10), 2837--2842, 2015, doi:10.1109/TAC.2015.2407452
  48. 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, 2015, doi:10.1115/1.4027950
  49. F. Goodarzi, D. Lee, T. Lee, "Geometric adaptive tracking control of a quadrotor unmanned aerial vehicle on SE(3) for agile maneuvers", ASME Journal of Dynamic Systems, Measurement, and Control, 137(9), 091007, 2015, doi:10.1115/1.4030419
  50. F. Goodarzi, D. Lee, T. Lee, "Geometric control of a quadrotor UAV transporting a payload connected via flexible cable", International Journal of Control, Automation, and Systems, 13(6), 1486--1498, 2015, doi:10.1007/s12555-014-0304-0
  51. N. H. McClamroch, T. Lee, "Optimal flight planning for a jet aircraft mission", in Case Studies in Operations Research, Springer, pp. 355--390, 2015
  52. T. Lee, "Optimal control of partitioned hybrid systems via discrete-time Hamilton-Jacobi theory", Automatica, 50(8), 2062--2069, 2014, doi:10.1016/j.automatica.2014.05.024
  53. T. Lee, M. Leok, N. H. McClamroch, "High-fidelity numerical simulation of complex dynamics of tethered spacecraft", Acta Astronautica, 99(1), 215--230, 2014, doi:10.1016/j.actaastro.2014.02.021
  54. T. Lee, "Robust adaptive attitude tracking on SO(3) with an application to a quadrotor UAV", IEEE Transactions on Control Systems Technology, 21(5), 1924--1930, 2013, doi:10.1109/TCST.2012.2209887
  55. 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, 2013, doi:10.1002/asjc.567
  56. 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, 2012, doi:10.1016/j.sysconle.2011.10.017
  57. 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, 2011, doi:10.1007/s11071-010-9849-5
  58. N. Chaturvedi, T. Lee, M. Leok, N. H. McClamroch, "Nonlinear dynamics of the 3D pendulum", Journal of Nonlinear Science, 21(1), 3--32, 2011, doi:10.1007/s00332-010-9078-6
  59. I. Kolmanovsky, T. Lee, A. Sanyal, J. Shen, "HarrisFest [conference reports]", IEEE Control Systems Magazine, 30(5), 81--83, 2010, doi:10.1109/MCS.2010.937816
  60. 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, 2009, doi:10.1002/nme.2603
  61. T. Lee, M. Leok, N. H. McClamroch, "Discrete control systems", in the Encyclopedia of Complexity and System Science, Springer, pp. 2002--2019, 2009
  62. A. Sanyal, T. Lee, M. Leok, N. H. McClamroch, "Global optimal attitude estimation using uncertainty ellipsoids", Systems and Control Letters, 57(3), 236--245, 2008, doi:10.1016/j.sysconle.2007.08.014
  63. 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
  64. 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, 2008, doi:10.1007/s10883-008-9047-7
  65. 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, 2007, doi:10.1007/s10569-007-9073-x
  66. 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, 2007, doi:10.1016/j.cma.2007.01.017
  67. 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, 2001, doi:10.2514/2.4794
  68. 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
  69. 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

Conference Proceedings

  1. B. Yu, C. Liu, M. Wickramasuriya, M. Imani, T. Lan, T. Lee, "REVISE: Revisable online open-vocabulary instance mapping with SLAM", in Proceedings of the IEEE International Conference on Robotics and Automation, 2027, submitted
  2. Z. Fang, B. Yu, C. Liu, Y. Lin, Z. Yang, R. Chen, M. Imani, T. Lee, T. Lan, "Ask, fall back, or commit: Mission-aware uncertainty resolution for human-robot planning", in Proceedings of the IEEE International Conference on Robotics and Automation, 2027, submitted
  3. Y. Lin, B. Yu, C. Liu, Z. Fang, S. Ghoreishi, T. Lan, T. Lee, M. Imani, "Learning to ask and act: Joint action and query planning under teammate intent uncertainty", in Proceedings of the IEEE International Conference on Robotics and Automation, 2027, submitted
  4. C. Liu, B. Yu, M. Wickramasuriya, T. Lan, M. Imani, T. Lee, "PIMS-SLAM: Persistent instance motion state for Gaussian SLAM in dynamic environments", in Proceedings of the IEEE International Conference on Robotics and Automation, 2027, submitted
  5. S. Edwards, D. Guralnik, T. Lee, "A geometrically informed local bound on state estimation error growth for a class of intermittent state feedback problems", in Proceedings of the American Control Conference, 2027, submitted
  6. J. Li, B. Yu, T. Lee, "Geometric control of aerial payload transportation with prescribed link direction for gate passage", in Proceedings of the American Control Conference, 2027, submitted
  7. K. Iwasaki, A. Bloch, T. Lee, M. Ghaffari, "The score Kalman filter", in Proceedings of Neural Information Processing Systems (NeurIPS), 2026, accepted. Selected for Spotlight presentation (292 of 30,709 submissions (0.95%))
  8. T. K. C., T. Lee, "Uncertainty propagation in stochastic hybrid systems with dimension-varying resets", in Proceedings of the IEEE Conference on Decision and Control, 2026, accepted
  9. K. Iwasaki, T. K. C., A. Bloch, M. Ghaffari, T. Lee, "Max-entropy moment filtering for stochastic hybrid systems", in Proceedings of the IEEE Conference on Decision and Control, 2026, accepted
  10. M. Wickramasuriya, B. Yu, J. Shin, M. Huslig, T. Lee, M. Snyder, "Hardware- and vision-in-the-loop validation of deep monocular pose estimation for autonomous maritime UAV flight", in Proceedings of the International Conference on Unmanned Aircraft Systems, 2026
  11. T. Lee, G. Chirikjian, "Global tensor field formulation of the Fokker--Planck equation on Riemannian manifolds", in Proceedings of the European Control Conference, 2026
  12. M. Wickramasuriya, B. Yu, T. Lee, M. Snyder, "Vision-in-the-loop simulation for deep monocular pose estimation of UAV in ocean environment", in Proceedings of the International Conference on Unmanned Aircraft Systems, 2025
  13. Z. Zhang, H. Zhou, M. Imani, T. Lee, T. Lan, "Learning to collaborate with unknown agents in the absence of reward", in Proceedings of the AAAI Conference on Artificial Intelligence, 2025
  14. T. K. C., T. Lee, "Mean field game and control for switching hybrid systems", in Proceedings of the IFAC Symposium on Nonlinear Control Systems, 2025, doi:10.1016/j.ifacol.2025.11.101
  15. T. K. C., M. Wickramasuriya, T. Lee, "Invariant Kalman filter for relative dynamics", in Proceedings of the IFAC Symposium on Nonlinear Control Systems, pp. 382--387, 2025, doi:10.1016/j.ifacol.2025.11.064
  16. T. K. C., W. Clark, T. Lee, "Uncertainty propagation of stochastic hybrid systems: A case study for types of jump", in Proceedings of the IFAC Symposium on Nonlinear Control Systems, 2025, doi:10.1016/j.ifacol.2025.11.048
  17. T. K. C., T. Lee, "Variational integrators for stochastic mechanical hybrid systems", in Proceedings of the IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Controls, pp. 149--154, 2024, doi:10.1016/j.ifacol.2024.08.272
  18. T. K. C., T. Lee, "Deep neural pose estimation for a flapping wing unmanned aerial vehicle with visual-inertial sensor fusion", in AIAA Scitech Forum, 2024, AIAA 2024-0948
  19. M. Wickramasuriya, T. Lee, M. Snyder, "Deep monocular relative 6D pose estimation for ship-based autonomous UAV", in AIAA Scitech Forum, 2024, AIAA 2024-2877
  20. B. Yu, T. Lee, "Multi-agent reinforcement learning for the low-level control of a quadrotor UAV", in Proceedings of the American Control Conference, pp. 1537--1542, 2024
  21. T. Lee, "G-learning: Equivariant indirect optimal control with generating function", in Proceedings of IEEE Conference on Decision and Control, pp. 2340--2345, 2023
  22. W. Wang, T. Lee, "INS-GNSS navigation for large attitude uncertainties with the matrix Fisher--Gaussian distribution", in Proceedings of the American Control Conference, pp. 4858--4863, 2023
  23. Z. Hou, T. Lee, M. Keidar, "Canonical correlation analysis for real-time diagnostics of cancer cell viability with impedance", in International Workshop On Plasma For Cancer Treatment, 2023
  24. M. Tarpley, J. Pohly, C. Kang, T. Lee, H. Aono, "Numerical analysis of flight performance of bioinspired Mars flight vehicles", in AIAA Scitech Forum, 2023, AIAA 2023-1219
  25. J. Pohly, C. Kang, T. K. C., T. Lee, H. Aono, "Climbing flight of monarch butterflies via wing and abdomen kinematic modulation using a high-fidelity numerical framework", in AIAA Scitech Forum, 2023, AIAA 2023-1789
  26. B. Yu, T. Lee, "Equivariant reinforcement learning for quadrotor UAV", in Proceedings of the American Control Conference, pp. 2842--2847, 2023
  27. 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", in Proceedings of the AIAA Scitech Forum, 2022, AIAA 2022-0308
  28. T. K. C., T. Lee, "Iterative supervised learning for regression with constraints", in International Conference on Ubiquitous Robots, 2022
  29. W. Wang, T. Lee, "Spacecraft attitude and gyro-bias estimation with a single magnetometer on SO(3)xRn", in Proceedings of the AIAA Scitech Forum, 2022, AIAA 2022-0616
  30. W. Wang, T. Lee, "Bingham--Gaussian distribution on S2xRn for unscented attitude estimation", in Proceedings of IEEE International Conference on Multisensor Fusion and Integration, 2021
  31. K. Gamagedara, T. Lee, M. Snyder, "Unscented Kalman filter for INS/GNSS data fusion with time delay", in Proceedings of AIAA Aviation Forum, 2021, AIAA 2021-2486
  32. M. Snyder, K. Gamagedara, T. Lee, J. Pritchard, "In situ detection and analysis of ship air wakes from a US Navy research vessel", in Proceedings of AIAA Aviation Forum, 2021, AIAA 2021-2485
  33. T. K. C., T. Lee, "Geometric optimal controls for flapping wing UAV on a Lie group", in IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control, 2021
  34. T. Lee, M. Tao, M. Leok, "Variational symplectic accelerated optimization on Lie groups", in Proceedings of IEEE Conference on Decision and Control, pp. 233--240, 2021
  35. 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", in Proceedings of the AIAA Scitech Forum, 2021, AIAA 2021-0963
  36. T. Lee, "Stochastic attitude smoothing and interpolation on SO(3) with matrix Fisher distributions", in Proceedings of the American Control Conference, pp. 1161--1167, 2021
  37. T. K. C., C. Kang, T. Lee, "Dynamics and control of a flapping wing UAV with abdomen undulation inspired by monarch butterfly", in Proceedings of the American Control Conference, pp. 66--71, 2021
  38. B. Yu, K. Gamagedara, S. Kim, T. Lee, J. Suk, "Geometric control and experimental validation for a quadrotor UAV transporting a payload", in Proceedings of IEEE Conference on Decision and Control, pp. 201--207, 2020
  39. W. Wang, T. Lee, "Spectral uncertainty propagation for generalized stochastic hybrid systems with applications to a bouncing ball", in Proceedings of the American Control Conference, pp. 1803--1808, 2020
  40. T. Lee, "Adaptive learning Kalman filter with Gaussian process", in Proceedings of the American Control Conference, pp. 4442--4447, 2020
  41. H. Sharma, T. Lee, M. Patil, C. Woolsey, "Symplectic accelerated optimization on SO(3) with Lie group variational integrators", in Proceedings of the American Control Conference, pp. 2826--2831, 2020
  42. W. Wang, T. Lee, "Matrix Fisher--Gaussian distribution on SO(3)XRn for attitude estimation with a gyro bias", in Proceedings of the American Control Conference, pp. 4429--4434, 2020
  43. M. Sridhar, C. Kang, T. Lee, "Geometric formulation for the dynamics of monarch butterfly with the effects of abdomen undulation", in Proceedings of the AIAA Scitech Forum, 2020, AIAA 2020-1962
  44. J. Pohly, C. Kang, M. Sridhar, D. Landrum, F. Fahimi, J. Bluman, H. Aono, T. Lee, "Scaling bioinspired Mars flight vehicles for hover", in Proceedings of the AIAA Scitech Forum, 2019, AIAA 2019-0567
  45. H. Sharma, T. Lee, "Energy-preserving, adaptive time-step Lie group variational integrators for the attitude dynamics of a rigid body", in Proceedings of the American Control Conference, pp. 5487--5492, 2019
  46. K. Gamagedara, M. Bisheban, E. Kaufman, T. Lee, "Geometric controls of a quadrotor with a decoupled yaw control", in Proceedings of the American Control Conference, 2019
  47. K. Gamagedara, T. Lee, D. Chang, "Attitude observer on SO(3) with time-varying reference directions", in Proceedings of the European Control Conference, pp. 4034--4039, 2019
  48. T. Lee, "Spacecraft attitude estimation with a single magnetometer using matrix Fisher distributions on SO(3)", in Proceedings of the AIAA Guidance, Navigation and Control Conference, 2019, AIAA 2019-1173
  49. K. Gamagedara, T. Lee, M. Snyder, "Real-time kinematics GPS based telemetry system for airborne measurements of ship air wake", in Proceedings of AIAA Aerospace Sciences Meeting, 2019, doi:10.2514/6.2019-2377, AIAA 2019-2377
  50. E. Kaufman, T. Lee, "Autonomous aerial exploration for topological mapping of Mars environments", in Proceedings of the AIAA Guidance, Navigation and Control Conference, 2019, AIAA 2019-1915
  51. M. Bisheban, T. Lee, "Geometric adaptive control for a quadrotor UAV with wind disturbance rejection", in Proceedings of IEEE Conference on Decision and Control, pp. 2816--2821, 2018
  52. T. Lee, "Bayesian attitude estimation with approximate matrix Fisher distributions on SO(3)", in Proceedings of IEEE Conference on Decision and Control, pp. 5319--5325, 2018
  53. Z. Zhao, G. Cruz, T. Lee, D. Bernstein, "Adaptive attitude control of a dual-rigid-body spacecraft with unmodeled nonminimum-phase dynamics", in Proceedings of the American Control Conference, pp. 2503--2508, 2018
  54. L. Simon, R. Agnes, K. Gamagedara, K. Takami, M. Snyder, T. Lee, "Studies on autonomous landing of an unmanned aerial vehicle on a vessel", in Proceedings of AIAA Information Systems, 2018, AIAA 2018-1461
  55. S. Kulumani, T. Lee, "Real time adaptive shape reconstruction for asteroid landing", in Proceedings of the AAS/AIAA Astrodynamics Specialist Conference, 2018, AAS 18-319
  56. K. Takami, T. Lee, "Environment dependent depth enhancement with multi-modal sensor fusion learning", in Proceedings of the IEEE International Conference on Robotic Computing, pp. 232--237, 2018
  57. E. Kaufman, K. Takami, T. Lee, "Autonomous quadrotor 3D mapping and exploration using exact occupancy probabilities", in Proceedings of the IEEE International Conference on Robotic Computing, pp. 49--55, 2018
  58. S. Kulumani, K. Takami, T. Lee, "Geometric control for autonomous landing on asteroid Itokawa using visual localization", in Proceedings of the AAS/AIAA Astrodynamics Specialist Conference, 2017, AAS 17-720
  59. M. Bisheban, T. Lee, "Computational geometric identification for the quadrotor dynamics in wind fields", in Proceedings of the IEEE Conference on Control Technology and Applications, pp. 1153--1158, 2017
  60. C. Mallon, B. Muthig, K. Gamagedara, K. Patil, C. Friedman, T. Lee, M. Snyder, "Measurements of ship air wake using airborne anemometers", in Proceedings of AIAA Aerospace Sciences Meeting, 2017, doi:10.2514/6.2017-0252, AIAA 2017-0252
  61. S. Kulumani, T. Lee, "Bayesian attitude estimation on SO(3) with matrix Fisher mixtures", in Proceedings of the AIAA/AAS Spaceflight Mechanics Meeting, 2017, AAS 17-324
  62. M. Bisheban, T. Lee, "Computational geometric system identification for the attitude dynamics on SO(3)", in Proceedings of the American Control Conference, pp. 2249--2254, 2017
  63. T. Lee, D. Chang, Y. Eun, "Attitude control strategies overcoming the topological obstruction on SO(3)", in Proceedings of the American Control Conference, pp. 4942--4947, 2017
  64. K. Lee, C. Park, T. Lee, S. Park, "Spacecraft formation keeping via discrete-time Hamilton-Jacobi theory", in Proceedings of the AIAA Guidance, Navigation and Control Conference, 2016, doi:10.2514/6.2016-0874, AIAA 2016-0874
  65. E. Kaufman, Z. Ai, T. Lee, "Autonomous exploration by expected information gain from probabilistic occupancy grid mapping", in Proceedings of the IEEE Conference on Simulation, Modeling, and Programming for Autonomous Robots, 2016
  66. T. Lee, "Optimal hybrid controls for global exponential tracking on the two-sphere", in Proceedings of the IEEE Conference on Decision and Control, pp. 3331--3337, 2016
  67. S. Kulumani, T. Lee, "Low-thrust trajectory design using reachability sets near asteroid 4769 Castalia", in Proceedings of the AIAA/AAS Astrodynamics Specialist Conference, 2016, doi:10.2514/6.2016-5376, AIAA 2016-5376
  68. F. Goodarzi, T. Lee, "Extended Kalman filter on SE(3) for geometric control of a quadrotor UAV", in Proceedings of the IEEE International Conference on Unmanned Aircraft Systems, pp. 1371--1380, 2016
  69. E. Kaufman, T. Lee, Z. Ai, I. Moskowitz, "Bayesian occupancy grid mapping via an exact inverse sensor model", in Proceedings of the American Control Conference, pp. 5709--5715, 2016
  70. S. Kulumani, C. Poole, T. Lee, "Geometric adaptive control of attitude dynamics on SO(3) with state inequality constraint", in Proceedings of the American Control Conference, pp. 4936--4941, 2016
  71. T. Lee, "Global unscented attitude estimation via the matrix Fisher distributions on SO(3)", in Proceedings of the American Control Conference, pp. 4942--4947, 2016
  72. S. Kulumani, T. Lee, "Systematic design of optimal low-thrust transfers for the three-body problem", in Proceedings of the AIAA/AAS Astrodynamics Specialist Conference, 2015, AAS 15-757
  73. T. Lee, M. Leok, N. H. McClamroch, "Global formulations of Lagrangian and Hamiltonian dynamics on embedded manifolds", in Proceedings of the IMA Conference on Mathematics of Robotics, 2015
  74. T. Lee, "Geometric adaptive control for aerial transportation of a rigid body", in Proceedings of the IMA Conference on Mathematics of Robotics, 2015
  75. T. Wu, E. Kaufman, T. Lee, "Globally asymptotically stable attitude observer on SO(3)", in Proceedings of the IEEE Conference on Decision and Control, pp. 2164--2168, 2015
  76. T. Lee, "Geometric controls for a tethered quadrotor UAV", in Proceedings of the IEEE Conference on Decision and Control, pp. 2749--2754, 2015
  77. T. Lee, M. Leok, N. H. McClamroch, "Global formulations of Lagrangian and Hamiltonian mechanics on two-spheres", in Proceedings of the IEEE Conference on Decision and Control, pp. 6010--6015, 2015
  78. E. Kaufman, T. Lovell, T. Lee, "Nonlinear observability measure for relative orbit determination with angles-only measurements", in Proceedings of the AAS/AIAA Space Flight Mechanics Meeting, 2015, AAS 15-451
  79. T. Lee, F. Leve, M. Leok, N. H. McClamroch, "Lie group variational integrators for spacecraft with variable speed control moment gyros", in Proceedings of the U.S. National Congress on Computational Mechanics, 2015
  80. T. Wu, T. Lee, "Angular velocity observer on the special orthogonal group for velocity-free rigid-body attitude tracking control", in Proceedings of the European Control Conference, pp. 1824--1829, 2015
  81. T. Wu, T. Lee, "Spacecraft attitude formation stabilization using lines-of-sight without angular velocity measurements", in Proceedings of the AAS/AIAA Space Flight Mechanics Meeting, 2015, AAS 15-441
  82. E. Kaufman, T. Lovell, T. Lee, "Minimum uncertainty JPDA filter and coalescence avoidance performance evaluations", in Proceedings of the AAS/AIAA Space Flight Mechanics Meeting, 2015, AAS 15-432
  83. F. Goodarzi, T. Lee, "Dynamics and control of quadrotor UAVs transporting a rigid body connected via flexible cables", in Proceedings of the American Control Conference, pp. 4677--4682, 2015
  84. T. Lee, "Collision avoidance via Voronoi tessellation for quadrotor UAVs transporting a payload", in Proceedings of the American Control Conference, pp. 1842--1848, 2015
  85. S. Dai, T. Lee, D. Bernstein, "Adaptive control of a quadrotor UAV transporting a cable-suspended load with unknown mass", in Proceedings of the IEEE Conference on Decision and Control, pp. 6149--6154, 2014
  86. T. Wu, T. Lee, "Spacecraft position and attitude formation control using line-of-sight observations", in Proceedings of the IEEE Conference on Decision and Control, pp. 970--975, 2014
  87. T. Lee, "Geometric control of multiple quadrotor UAVs transporting a cable-suspended rigid body", in Proceedings of the IEEE Conference on Decision and Control, pp. 6155--6160, 2014
  88. T. Lee, F. Leve, "Lagrangian mechanics and Lie group variational integrators for spacecraft with imbalanced reaction wheels", in Proceedings of the American Control Conference, pp. 3122--3127, 2014
  89. F. Goodarzi, D. Lee, T. Lee, "Geometric stabilization of a quadrotor UAV with a payload connected by flexible cable", in Proceedings of the American Control Conference, pp. 4925--4930, 2014
  90. J. Dougherty, D. Lee, T. Lee, "Laser-based guidance of a quadrotor UAV for precise landing on an inclined surface", in Proceedings of the American Control Conference, pp. 1210--1215, 2014
  91. T. Lovell, T. Lee, "Nonlinear observability for relative satellite orbits with angles-only measurements", in Proceedings of the International Symposium on Space Flight Dynamics, 2014
  92. E. Kaufman, K. Caldwell, D. Lee, T. Lee, "Design and development of a free-floating hexrotor UAV for 6-DOF maneuvers", in Proceedings of the IEEE Aerospace Conference, 2014
  93. E. Kaufman, T. Lee, "Optimal joint probabilistic data association filter avoiding coalescence in close proximity", in Proceedings of the European Control Conference, pp. 2709--2714, 2014
  94. T. Lee, "Stochastic optimal motion planning and global estimation for the attitude kinematics on SO(3)", in Proceedings of the IEEE Conference on Decision and Control, pp. 588--593, 2013
  95. T. Lee, K. Sreenath, V. Kumar, "Geometric control of cooperating multiple quadrotor UAVs with a suspended load", in Proceedings of the IEEE Conference on Decision and Control, pp. 5510--5515, 2013
  96. K. Sreenath, T. Lee, V. Kumar, "Geometric control and differential flatness of a quadrotor UAV with a cable-suspended load", in Proceedings of the IEEE Conference on Decision and Control, pp. 2269--2274, 2013
  97. T. Lee, M. Keidar, "Low-thrust orbital maneuver analysis for CubeSat with micro-cathode thruster", in Proceedings of the International Electric Propulsion Conference, 2013, IEPC-2013-365
  98. T. Wu, T. Lee, M. Keidar, "Low-thrust attitude control for nano-satellite with micro-cathode thrusters", in Proceedings of the International Electric Propulsion Conference, 2013, IEPC-2013-366
  99. 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", in Proceedings of the AIAA Guidance, Navigation and Control Conference, 2013, AIAA 2013-4562
  100. F. Goodarzi, D. Lee, T. Lee, "Geometric nonlinear PID control of a quadrotor UAV on SE(3)", in Proceedings of the European Control Conference, pp. 3845--3850, 2013
  101. T. Lee, "Robust global exponential attitude tracking controls on SO(3)", in Proceedings of the American Control Conference, pp. 2103--2108, 2013
  102. T. Wu, B. Flewelling, F. Leve, T. Lee, "Spacecraft relative attitude formation tracking on SO(3) based on line-of-sight measurements", in Proceedings of the American Control Conference, pp. 4827--4832, 2013
  103. T. Lee, M. Leok, N. H. McClamroch, "Nonlinear robust tracking control of a quadrotor UAV on SE(3)", in Proceedings of the American Control Conference, pp. 4649--4654, 2012
  104. T. Lee, M. Leok, N. H. McClamroch, "Dynamics and control of a chain pendulum on a cart", in Proceedings of the IEEE Conference on Decision and Control, pp. 2502--2508, 2012
  105. T. Lee, "Relative attitude control of two spacecraft on SO(3) using line-of-sight observations", in Proceedings of the American Control Conference, pp. 167--172, 2012
  106. T. Lee, "Discrete-time optimal feedback control via the discrete Hamilton-Jacobi theory with applications to hybrid systems", in Proceedings of the IEEE Conference on Decision and Control, pp. 7055--7062, 2012
  107. 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", in Proceedings of the IEEE Conference on Decision and Control, pp. 7380--7385, 2011
  108. T. Lee, M. Leok, N. H. McClamroch, "Geometric numerical integration for complex dynamics of tethered spacecraft", in Proceedings of the American Control Conference, pp. 1885--1891, 2011
  109. T. Lee, M. Leok, N. H. McClamroch, "Stable manifolds of saddle points for pendulum dynamics on S2 and SO(3)", in Proceedings of the IEEE Conference on Decision and Control, pp. 3915--3921, 2011
  110. T. Lee, M. Leok, N. H. McClamroch, "Geometric tracking control of a quadrotor UAV for extreme maneuverability", in Proceedings of the World Congress of the International Federation of Automatic Control, pp. 6337--6342, 2011
  111. T. Lee, "Geometric tracking control of the attitude dynamics of a rigid body on SO(3)", in Proceedings of the American Control Conference, pp. 1200--1205, 2011
  112. T. Lee, M. Leok, N. H. McClamroch, "Geometric tracking control of a quadrotor UAV on SE(3)", in Proceedings of the IEEE Conference on Decision and Control, pp. 5420--5425, 2010
  113. T. Lee, M. Leok, N. H. McClamroch, "Computational geometric optimal control of connected rigid bodies in a perfect fluid", in Proceedings of the American Control Conference, pp. 5985--5990, 2010
  114. T. Lee, M. Leok, N. H. McClamroch, "Dynamics of connected rigid bodies in a perfect fluid", in Proceedings of the American Control Conference, pp. 408--413, 2009
  115. T. Lee, M. Leok, N. H. McClamroch, "Dynamics of a 3D elastic string pendulum", in Proceedings of IEEE Conference on Decision and Control, pp. 3347--3352, 2009
  116. T. Lee, M. Leok, N. H. McClamroch, "Global symplectic uncertainty propagation on SO(3)", in Proceedings of the IEEE Conference on Decision and Control, pp. 61--66, 2008
  117. T. Lee, M. Leok, N. H. McClamroch, "Time optimal attitude control for a rigid body", in Proceedings of the American Control Conference, pp. 5210--5215, 2008
  118. T. Lee, M. Leok, N. H. McClamroch, "Optimal attitude control for a rigid body with symmetry", in Proceedings of the American Control Conference, pp. 1073--1078, 2007
  119. T. Lee, M. Leok, N. H. McClamroch, "A combinatorial optimal control problem for spacecraft formation reconfiguration", in Proceedings of the IEEE Conference on Decision and Control, pp. 5370--5375, 2007
  120. T. Lee, M. Leok, N. H. McClamroch, A. Sanyal, "Global attitude estimation using single direction measurements", in Proceedings of the American Control Conference, pp. 3659--3664, 2007
  121. T. Lee, N. Chaturvedi, A. Sanyal, M. Leok, N. H. McClamroch, "Propagation of uncertainty in rigid body attitude flows", in Proceedings of the IEEE Conference on Decision and Control, pp. 2689--2694, 2007
  122. E. Fahnestock, T. Lee, M. Leok, N. H. McClamroch, D. Scheeres, "Polyhedral potential and variational integrator computation of the full two body problem", in Proceedings of the AIAA/AAS Astrodynamics Specialist Conference and Exhibit, 2006, AIAA 2006-6289
  123. T. Lee, M. Leok, N. H. McClamroch, "Optimal control of a rigid body using geometrically exact computations on SE(3)", in Proceedings of the IEEE Conference on Decision and Control, pp. 2170--2175, 2006
  124. T. Lee, M. Leok, N. H. McClamroch, "Attitude maneuvers of a rigid spacecraft in a circular orbit", in Proceedings of the American Control Conference, pp. 1742--1747, 2006
  125. T. Lee, A. Sanyal, M. Leok, N. H. McClamroch, "Deterministic global attitude estimation", in Proceedings of the IEEE Conference on Decision and Control, pp. 3174--3179, 2006
  126. 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", in Proceedings of the IEEE Conference on Control Application, pp. 962--967, 2005
  127. T. Lee, Y. Kim, D. Kim, "Stability analysis of nonlinear flight control using neural networks", in Proceedings of the 3rd Asian Control Conference, 2000
  128. T. Lee, Y. Kim, "Robust nonlinear control of flight dynamics using backstepping controller", in Proceedings of the Korean Society for Aeronautical and Space Sciences Fall Conference, 1999
  129. T. Lee, Y. Kim, "Nonlinear adaptive control of flight dynamics using backstepping and neural networks controller", in Proceedings of the Institute of Control, Automation, and System Engineering 5th Conference, 1999
  130. J. Ahn, T. Lee, Y. Kim, "Real-time missile trajectory optimization using parameter optimization", in Proceedings of the Japan Society for Aeronautical and Space Sciences (JSASS) 13th International Sessions in 37th Aircraft Symposium, 1999

Presentations and Other Contributions

  1. E. Kaufman, T. Lee, "Geometric adaptive control for aerial transportation of a rigid body", 2015, Presented at International Conference on Robotics and Automation
  2. T. Lee, M. Leok, "Computational geometric uncertainty propagation and global estimation for Hamiltonian systems on a Lie group", in Proceedings of the NSF CMMI Research and Innovation Conference, 2012
  3. T. Lee, M. Leok, "Computational geometric uncertainty propagation for Hamiltonian systems on a Lie group", in Proceedings of the NSF CMMI Research and Innovation Conference, 2011