13 citations · 14 across the 12 of their papers we have counts for
13 papers
AM-Bench: A Modular Simulation Suite and Benchmark for Aerial Manipulation Policy Learning
Yutong Wang, Dongjae Lee, Xiaofeng Guo +9
Standardized benchmarks have played a central role in advancing robot manipulation learning, yet most focus on ground-supported manipulation systems, which limits their applicabili…
Geometric Backstepping Control of Omnidirectional Tiltrotors Incorporating Servo-Rotor Dynamics for Robustness against Sudden Disturbances
Jaewoo Lee, Dongjae Lee, Jinwoo Lee +3
This work presents a geometric backstepping controller for a variable-tilt omnidirectional multirotor that explicitly accounts for both servo and rotor dynamics. Considering actuat…
Autonomous Aerial Manipulation at Arbitrary Pose in SE(3) with Robust Control and Whole-body Planning
Dongjae Lee, Byeongjun Kim, H. Jin Kim
Aerial manipulators based on conventional multirotors can conduct manipulation only in small roll and pitch angles due to the underactuatedness of the multirotor base. If the multi…
Safety-Critical Control for Aerial Physical Interaction in Uncertain Environment
Jeonghyun Byun, Yeonjoon Kim, Dongjae Lee +1
Aerial manipulation for safe physical interaction with their environments is gaining significant momentum in robotics research. In this paper, we present a disturbance-observer-bas…
Saturated RISE control for considering rotor thrust saturation of fully actuated multirotor
Dongjae Lee, H. Jin Kim
This work proposes a saturated robust controller for a fully actuated multirotor that takes disturbance rejection and rotor thrust saturation into account. A disturbance rejection…
Autonomous aerial perching and unperching using omnidirectional tiltrotor and switching controller
Dongjae Lee, Sunwoo Hwang, Jeonghyun Byun +2
Aerial unperching of multirotors has received little attention as opposed to perching that has been investigated to elongate operation time. This study presents a new aerial robot…
Safety-Critical Control under Multiple State and Input Constraints and Application to Fixed-Wing UAV
Donggeon David Oh, Dongjae Lee, H. Jin Kim
This study presents a framework to guarantee safety for a class of second-order nonlinear systems under multiple state and input constraints. To facilitate real-world applications,…
Minimally actuated tiltrotor for perching and normal force exertion
Dongjae Lee, Sunwoo Hwang, Changhyeon Kim +2
This study presents a new hardware design and control of a minimally actuated 5 control degrees of freedom (CDoF) quadrotor-based tiltrotor. The proposed tiltrotor possesses severa…
Design, Modeling and Control of a Top-loading Fully-Actuated Cargo Transportation Multirotor
Wooyong Park, Xiangyu Wu, Dongjae Lee +1
Existing multirotor-based cargo transportation does not maintain a constant cargo attitude due to underactuation; however, fragile payloads may require a consistent posture. The co…
Robust and Recursively Feasible Real-Time Trajectory Planning in Unknown Environments
Inkyu Jang, Dongjae Lee, Seungjae Lee +1
Motion planners for mobile robots in unknown environments face the challenge of simultaneously maintaining both robustness against unmodeled uncertainties and persistent feasibilit…
Real-Time Motion Planning of a Hydraulic Excavator using Trajectory Optimization and Model Predictive Control
Dongjae Lee, Inkyu Jang, Jeonghyun Byun +2
Automation of excavation tasks requires real-time trajectory planning satisfying various constraints. To guarantee both constraint feasibility and real-time trajectory re-plannabil…
Stability and Robustness Analysis of Plug-Pulling using an Aerial Manipulator
Jeonghyun Byun, Dongjae Lee, Hoseong Seo +3
In this paper, an autonomous aerial manipulation task of pulling a plug out of an electric socket is conducted, where maintaining the stability and robustness is challenging due to…
Aerial Manipulation using Model Predictive Control for Opening a Hinged Door
Dongjae Lee, Hoseong Seo, Dabin Kim +1
Existing studies for environment interaction with an aerial robot have been focused on interaction with static surroundings. However, to fully explore the concept of an aerial mani…