Taeyoung Lee

CoRR, April, 2026

Uncertainty Mitigation and Intent Inference: A Dual-Mode Human-Machine Joint Planning System.

[BibT_eX]

[DOI]

CoRR, March, 2026

Equivariant Reinforcement Learning Frameworks for Quadrotor Low-Level Control.

[BibT_eX]

[DOI]

IEEE Trans. Control. Syst. Technol., January, 2026

2025

Vision-in-the-loop Simulation for Deep Monocular Pose Estimation of UAV in Ocean Environment.

[BibT_eX]

[DOI]

Maneesha Wickramasuriya

Murray Snyder

CoRR, February, 2025

Modular Reinforcement Learning for a Quadrotor UAV With Decoupled Yaw Control.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., January, 2025

Learning to Collaborate with Unknown Agents in the Absence of Reward.

[BibT_eX]

[DOI]

Proceedings of the Thirty-Ninth AAAI Conference on Artificial Intelligence, 2025

2024

Mean Field Game and Control for Switching Hybrid Systems.

[BibT_eX]

[DOI]

CoRR, 2024

Invariant Kalman Filter for Relative Dynamics.

[BibT_eX]

[DOI]

Maneesha Wickramasuriya

CoRR, 2024

Uncertainty propagation of stochastic hybrid systems: a case study for types of jump.

[BibT_eX]

[DOI]

William Clark

CoRR, 2024

Deep Transformer Network for Monocular Pose Estimation of Ship-Based UAV.

[BibT_eX]

[DOI]

Maneesha Wickramasuriya

Murray Snyder

CoRR, 2024

Collaborative AI Teaming in Unknown Environments via Active Goal Deduction.

[BibT_eX]

[DOI]

CoRR, 2024

Multi-Agent Reinforcement Learning for the Low-Level Control of a Quadrotor UAV.

[BibT_eX]

[DOI]

Proceedings of the American Control Conference, 2024

2023

G-Learning: Equivariant Indirect Optimal Control with Generating Function.

[BibT_eX]

[DOI]

Proceedings of the 62nd IEEE Conference on Decision and Control, 2023

Equivariant Reinforcement Learning for Quadrotor UAV.

[BibT_eX]

[DOI]

Proceedings of the American Control Conference, 2023

INS-GNSS Navigation for Large Attitude Uncertainties with the Matrix Fisher-Gaussian Distribution.

[BibT_eX]

[DOI]

Proceedings of the American Control Conference, 2023

2022

Uncertainty Propagation for General Stochastic Hybrid Systems on Compact Lie Groups.

[BibT_eX]

[DOI]

SIAM J. Appl. Dyn. Syst., September, 2022

Matrix Fisher-Gaussian Distribution on $\mathrm{SO}(3)\times \mathbb {R}^{ n }$ and Bayesian Attitude Estimation.

[BibT_eX]

[DOI]

IEEE Trans. Autom. Control., 2022

On the Observability of Attitude With Single Direction Measurements.

[BibT_eX]

[DOI]

Kanishke Gamagedara

IEEE Trans. Autom. Control., 2022

Constrained Imitation Learning for a Flapping Wing Unmanned Aerial Vehicle.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2022

Iterative Supervised Learning for Regression with Constraints.

[BibT_eX]

[DOI]

Proceedings of the 19th International Conference on Ubiquitous Robots, 2022

2021

Geometric Adaptive Control With Neural Networks for a Quadrotor in Wind Fields.

[BibT_eX]

[DOI]

IEEE Trans. Control. Syst. Technol., 2021

Quadrotor State Estimation With IMU and Delayed Real-Time Kinematic GPS.

[BibT_eX]

[DOI]

Kanishke Gamagedara

Murray Snyder

IEEE Trans. Aerosp. Electron. Syst., 2021

Bingham-Gaussian Distribution on $\mathbb{S}^{3}\times \mathbb{R}^{n}$ for Unscented Attitude Estimation.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, 2021

Variational Symplectic Accelerated Optimization on Lie Groups.

[BibT_eX]

[DOI]

Molei Tao

Proceedings of the 2021 60th IEEE Conference on Decision and Control (CDC), 2021

Stochastic Attitude Smoothing and Interpolation on SO(3) with Matrix Fisher Distributions.

[BibT_eX]

[DOI]

Proceedings of the 2021 American Control Conference, 2021

Dynamics and Control of a Flapping Wing UAV with Abdomen Undulation Inspired by Monarch Butterfly.

[BibT_eX]

[DOI]

Chang-Kwon Kang

Proceedings of the 2021 American Control Conference, 2021

2020

Bayesian Mapping-Based Autonomous Exploration and Patrol of 3D Structured Indoor Environments with Multiple Flying Robots.

[BibT_eX]

[DOI]

J. Intell. Robotic Syst., 2020

Spectral Bayesian Estimation for General Stochastic Hybrid Systems.

[BibT_eX]

[DOI]

Autom., 2020

Geometric Control and Experimental Validation for a Quadrotor UAV Transporting a Payload.

[BibT_eX]

[DOI]

Proceedings of the 59th IEEE Conference on Decision and Control, 2020

Matrix Fisher-Gaussian Distribution on SO(3) ×ℝ<sup>n</sup> for Attitude Estimation with a Gyro Bias.

[BibT_eX]

[DOI]

Proceedings of the 2020 American Control Conference, 2020

Spectral Uncertainty Propagation for Generalized Stochastic Hybrid Systems with Applications to a Bouncing Ball.

[BibT_eX]

[DOI]

Proceedings of the 2020 American Control Conference, 2020

Symplectic Accelerated Optimization on SO(3) with Lie Group Variational Integrators.

[BibT_eX]

[DOI]

Proceedings of the 2020 American Control Conference, 2020

Adaptive Learning Kalman Filter with Gaussian Process.

[BibT_eX]

[DOI]

Proceedings of the 2020 American Control Conference, 2020

2019

Attitude Observer on SO(3) with Time-Varying Reference Directions.

[BibT_eX]

[DOI]

Kanishke Gamagedara

Dong Eui Chang

Proceedings of the 17th European Control Conference, 2019

Energy-preserving, Adaptive Time-Step Lie Group Variational Integrators for the Attitude Dynamics of a Rigid Body.

[BibT_eX]

[DOI]

Harsh Sharma

Proceedings of the 2019 American Control Conference, 2019

Geometric Controls of a Quadrotor UAV with Decoupled Yaw Control.

[BibT_eX]

[DOI]

Proceedings of the 2019 American Control Conference, 2019

2018

Geometric Control of Quadrotor UAVs Transporting a Cable-Suspended Rigid Body.

[BibT_eX]

[DOI]

IEEE Trans. Control. Syst. Technol., 2018

Bayesian Attitude Estimation With the Matrix Fisher Distribution on SO(3).

[BibT_eX]

[DOI]

IEEE Trans. Autom. Control., 2018

Autonomous Exploration with Exact Inverse Sensor Models.

[BibT_eX]

[DOI]

J. Intell. Robotic Syst., 2018

Environment-Dependent Depth Enhancement with Multi-modal Sensor Fusion Learning.

[BibT_eX]

[DOI]

Kuya Takami

Proceedings of the Second IEEE International Conference on Robotic Computing, 2018

Autonomous Quadrotor 3D Mapping and Exploration Using Exact Occupancy Probabilities.

[BibT_eX]

[DOI]

Proceedings of the Second IEEE International Conference on Robotic Computing, 2018

Bayesian Attitude Estimation with Approximate Matrix Fisher Distributions on SO(3).

[BibT_eX]

[DOI]

Proceedings of the 57th IEEE Conference on Decision and Control, 2018

Geometric Adaptive Control for a Quadrotor UAV with Wind Disturbance Rejection.

[BibT_eX]

[DOI]

Proceedings of the 57th IEEE Conference on Decision and Control, 2018

Adaptive Attitude Control of a Dual-Rigid-Body Spacecraft with Unmodeled Nonminimum-Phase Dynamics.

[BibT_eX]

[DOI]

Proceedings of the 2018 Annual American Control Conference, 2018

2017

Global Formulation of an Extended Kalman Filter on SE(3) for Geometric Control of a Quadrotor UAV.

[BibT_eX]

[DOI]

J. Intell. Robotic Syst., 2017

Computational geometric identification for quadrotor dynamics in wind fields.

[BibT_eX]

[DOI]

Proceedings of the IEEE Conference on Control Technology and Applications, 2017

Attitude control strategies overcoming the topological obstruction on SO(3).

[BibT_eX]

[DOI]

Dong Eui Chang

Yongsoon Eun

Proceedings of the 2017 American Control Conference, 2017

Computational geometric system identification for the attitude dynamics on SO(3).

[BibT_eX]

[DOI]

Proceedings of the 2017 American Control Conference, 2017

2016

Autonomous exploration by expected information gain from probabilistic occupancy grid mapping.

[BibT_eX]

[DOI]

Evan Kaufman

Zhuming Ai

Proceedings of the 2016 IEEE International Conference on Simulation, 2016

Optimal hybrid controls for global exponential tracking on the two-sphere.

[BibT_eX]

[DOI]

Proceedings of the 55th IEEE Conference on Decision and Control, 2016

Global unscented attitude estimation via the matrix Fisher distributions on SO(3).

[BibT_eX]

[DOI]

Proceedings of the 2016 American Control Conference, 2016

Geometric adaptive control of attitude dynamics on SO(3) with state inequality constraints.

[BibT_eX]

[DOI]

Shankar Kulumani

Christopher Poole

Proceedings of the 2016 American Control Conference, 2016

Bayesian occupancy grid mapping via an exact inverse sensor model.

[BibT_eX]

[DOI]

Proceedings of the 2016 American Control Conference, 2016

2015

Global Exponential Attitude Tracking Controls on SO(3).

[BibT_eX]

[DOI]

IEEE Trans. Autom. Control., 2015

Angular velocity observer for velocity-free attitude tracking control on SO(3).

[BibT_eX]

[DOI]

Tse-Huai Wu

Proceedings of the 14th European Control Conference, 2015

Globally Asymptotically Stable Attitude Observer on SO(3).

[BibT_eX]

[DOI]

Tse-Huai Wu

Evan Kaufman

Proceedings of the 54th IEEE Conference on Decision and Control, 2015

Global formulations of Lagrangian and Hamiltonian mechanics on two-spheres.

[BibT_eX]

[DOI]

Proceedings of the 54th IEEE Conference on Decision and Control, 2015

Geometric controls for a tethered quadrotor UAV.

[BibT_eX]

[DOI]

Proceedings of the 54th IEEE Conference on Decision and Control, 2015

Collision avoidance for quadrotor UAVs transporting a payload via Voronoi tessellation.

[BibT_eX]

[DOI]

Proceedings of the American Control Conference, 2015

Dynamics and control of quadrotor UAVs transporting a rigid body connected via flexible cables.

[BibT_eX]

[DOI]

Proceedings of the American Control Conference, 2015

2014

Optimal control of partitioned hybrid systems via discrete-time Hamilton-Jacobi theory.

[BibT_eX]

[DOI]

Autom., 2014

Optimal joint probabilistic data association filter avoiding coalescence in close proximity.

[BibT_eX]

[DOI]

Evan Kaufman

Thomas Alan Lovell

Proceedings of the 13th European Control Conference, 2014

Spacecraft position and attitude formation control using line-of-sight observations.

[BibT_eX]

[DOI]

Tse-Huai Wu

Proceedings of the 53rd IEEE Conference on Decision and Control, 2014

Geometric control of multiple quadrotor UAVs transporting a cable-suspended rigid body.

[BibT_eX]

[DOI]

Proceedings of the 53rd IEEE Conference on Decision and Control, 2014

Adaptive control of a quadrotor UAV transporting a cable-suspended load with unknown mass.

[BibT_eX]

[DOI]

Shicong Dai

Dennis S. Bernstein

Proceedings of the 53rd IEEE Conference on Decision and Control, 2014

Lagrangian mechanics and Lie group variational integrators for spacecraft with imbalanced reaction wheels.

[BibT_eX]

[DOI]

Frederick A. Leve

Proceedings of the American Control Conference, 2014

Geometric stabilization of a quadrotor UAV with a payload connected by flexible cable.

[BibT_eX]

[DOI]

Daewon Lee

Proceedings of the American Control Conference, 2014

Laser-based guidance of a quadrotor uav for precise landing on an inclined surface.

[BibT_eX]

[DOI]

John Dougherty

Daewon Lee

Proceedings of the American Control Conference, 2014

2013

Robust Adaptive Attitude Tracking on ${\rm SO}(3)$ With an Application to a Quadrotor UAV.

[BibT_eX]

[DOI]

IEEE Trans. Control. Syst. Technol., 2013

Geometric nonlinear PID control of a quadrotor UAV on SE(3).

[BibT_eX]

[DOI]

Daewon Lee

Proceedings of the 12th European Control Conference, 2013

Geometric control and differential flatness of a quadrotor UAV with a cable-suspended load.

[BibT_eX]

[DOI]

Koushil Sreenath

Vijay Kumar

Proceedings of the 52nd IEEE Conference on Decision and Control, 2013

Geometric control of cooperating multiple quadrotor UAVs with a suspended payload.

[BibT_eX]

[DOI]

Koushil Sreenath

Vijay Kumar

Proceedings of the 52nd IEEE Conference on Decision and Control, 2013

Stochastic optimal motion planning and estimation for the attitude kinematics on SO(3).

[BibT_eX]

[DOI]

Proceedings of the 52nd IEEE Conference on Decision and Control, 2013

Spacecraft relative attitude formation tracking on SO(3) based on line-of-sight measurements.

[BibT_eX]

[DOI]

Proceedings of the American Control Conference, 2013

Robust global exponential attitude tracking controls on SO(3).

[BibT_eX]

[DOI]

Proceedings of the American Control Conference, 2013

2012

Exponential stability of an attitude tracking control system on SO(3) for large-angle rotational maneuvers.

[BibT_eX]

[DOI]

Syst. Control. Lett., 2012

Dynamics and control of a chain pendulum on a cart.

[BibT_eX]

[DOI]

Proceedings of the 51th IEEE Conference on Decision and Control, 2012

Discrete-time optimal feedback control via Hamilton-Jacobi theory with an application to hybrid systems.

[BibT_eX]

[DOI]

Proceedings of the 51th IEEE Conference on Decision and Control, 2012

Nonlinear robust tracking control of a quadrotor UAV on SE(3).

[BibT_eX]

[DOI]

Proceedings of the American Control Conference, 2012

Relative attitude control of two spacecraft on SO(3) using line-of-sight observations.

[BibT_eX]

[DOI]

Proceedings of the American Control Conference, 2012

2011

Nonlinear Dynamics of the 3D Pendulum.

[BibT_eX]

[DOI]

J. Nonlinear Sci., 2011

Stable manifolds of saddle equilibria for pendulum dynamics on S<sup>2</sup> and SO(3).

[BibT_eX]

[DOI]

Proceedings of the 50th IEEE Conference on Decision and Control and European Control Conference, 2011

Robust adaptive geometric tracking controls on SO(3) with an application to the attitude dynamics of a quadrotor UAV.

[BibT_eX]

[DOI]

Proceedings of the 50th IEEE Conference on Decision and Control and European Control Conference, 2011

Geometric numerical integration for complex dynamics of tethered spacecraft.

[BibT_eX]

[DOI]

Proceedings of the American Control Conference, 2011

Geometric tracking control of the attitude dynamics of a rigid body on SO(3).

[BibT_eX]

[DOI]

Proceedings of the American Control Conference, 2011

2010

Control of Complex Maneuvers for a Quadrotor UAV using Geometric Methods on SE(3).

[BibT_eX]

[DOI]

CoRR, 2010

Geometric tracking control of a quadrotor UAV on SE(3).

[BibT_eX]

[DOI]

Proceedings of the 49th IEEE Conference on Decision and Control, 2010

Computational geometric optimal control of connected rigid bodies in a perfect fluid.

[BibT_eX]

[DOI]

Proceedings of the American Control Conference, 2010

2009

Discrete Control Systems.

[BibT_eX]

[DOI]

Proceedings of the Encyclopedia of Complexity and Systems Science, 2009

Dynamics of a 3D elastic string pendulum.

[BibT_eX]

[DOI]

Proceedings of the 48th IEEE Conference on Decision and Control, 2009

Dynamics of connected rigid bodies in a perfect fluid.

[BibT_eX]

[DOI]

Proceedings of the American Control Conference, 2009

2008

Global optimal attitude estimation using uncertainty ellipsoids.

[BibT_eX]

[DOI]

Syst. Control. Lett., 2008

Computational Geometric Optimal Control of Rigid Bodies.

[BibT_eX]

[DOI]

Commun. Inf. Syst., 2008

Global symplectic uncertainty propagation on SO(3).

[BibT_eX]

[DOI]

Proceedings of the 47th IEEE Conference on Decision and Control, 2008

Time optimal attitude control for a rigid body.

[BibT_eX]

[DOI]

Proceedings of the American Control Conference, 2008

2007

A combinatorial optimal control problem for spacecraft formation reconfiguration.

[BibT_eX]

[DOI]

Proceedings of the 46th IEEE Conference on Decision and Control, 2007

Propagation of uncertainty in rigid body attitude flows.

[BibT_eX]

[DOI]

Proceedings of the 46th IEEE Conference on Decision and Control, 2007

Optimal Attitude Control for a Rigid Body with Symmetry.

[BibT_eX]

[DOI]

Proceedings of the American Control Conference, 2007

Global Attitude Estimation using Single Direction Measurements.

[BibT_eX]

[DOI]

Proceedings of the American Control Conference, 2007

2006

Deterministic Global Attitude Estimation.

[BibT_eX]

[DOI]

Proceedings of the 45th IEEE Conference on Decision and Control, 2006

Optimal Control of a Rigid Body using Geometrically Exact Computations on SE(3).

[BibT_eX]

[DOI]

Proceedings of the 45th IEEE Conference on Decision and Control, 2006

Attitude maneuvers of a rigid spacecraft in a circular orbit.

[BibT_eX]

[DOI]

Proceedings of the American Control Conference, 2006

2005

A lie group variational integrator for the attitude dynamics of a rigid body with applications to the 3D pendulum.

[BibT_eX]

[DOI]