13 citations · 14 across the 12 of their papers we have counts for
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cs.RO2025
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…
cs.RO2025
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…
cs.RO2025
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…