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Publications

Under Review

[U4] Infinite-horizon reach-avoid zero-sum games via deep reinforcement learning

J. Li, D. Lee, S. Sojoudi, and C. J. Tomlin

arXiv preprint arXiv:2203.10142

[U3] Hamilton-Jacobi equations for two classes of state-constrained zero-sum games

D. Lee and C. J. Tomlin

arXiv preprint arXiv:2106.15006

[U2] Interaction-aware trajectory planning for autonomous vehicles with analytic integration of neural networks into model predictive control

P. Gupta, D. Isele, D. Lee, and S. Bae

[U1] RAMP: A risk-aware mapping and planning pipeline for fast off-road ground robot navigation

L. Sharma, M. Everett, D. Lee, X. Cai, P. Osteen, and J. P. How

arXiv preprint arXiv:2210.06605

Journal Publications

[J9] Convexifying state-constrained optimal control problems

D. Lee, S. Deka, and C. J. Tomlin

IEEE Transactions on Automatic Control, Accepted.

[J8] Efficient computation of state-constrained reachability problems using Hopf-Lax formulae

D. Lee and C. J. Tomlin

IEEE Transactions on Automatic Control, Accepted.

[J7] A Real-time robust receding horizon planning using Hamilton-Jacobi reachability analysis

H. Seo, D. Lee, C. Y. Son, I. Jang, C. J. Tomlin, and H. J Kim

IEEE Transactions on Robotics, 2022.

[J6] Towards cyber-physical systems robust to communication delays: a differential game approach

S. A. Deka, D. Lee, and C. J. Tomlin

IEEE Control Systems Letters (L-CSS), Vol. 6, pp. 2042-2047, 2021.

[J5] A Hopf-Lax formula in Hamilton-Jacobi analysis for reach-avoid problems

D. Lee and C. J. Tomlin

IEEE Control Systems Letters (L-CSS), Vol. 5, Issue 3, pp. 1055-1060, 2020.

[J4] One-piece gravity compensation mechanism using cam mechanism and compression spring

G. Lee, D. Lee, and Y. Oh

International Journal of Precision Engineering and Manufacturing-Green Technology, Vol. 5, Issue 3, pp 415-420, 2018.

[J3] Multimodal feedback for teleoperation of multiple mobile robots in an outdoor environment

A. Hong, D. Lee, H. H. Bulthoff, and H. I. Son

Journal on Multimodal User Interfaces, pp. 1-14, 2017.

[J2] Maintenance robot for 5-MW offshore wind turbines and its control

D. Lee, S. Oh, and H. I. Son

IEEE/ASME Transactions on Mechatronics, vol. 21, no. 5, pp. 2272-2283, 2016.

[J1] Gain-scheduling control of teleoperation systems interacting with soft tissues

J. H. Cho, H. I. Son, D. Lee, T. Bhattacharjee, and D. Y. Lee

IEEE Transactions on Industrial Electronics, vol. 60, no. 3, pp. 946-957, 2013.

Conference Publications

[C11] Robust control barrier-value functions for safety-critical control

J. J. Choi, D. Lee, K. Sreenath, C. J. Tomlin, and S. L. Herbert

IEEE 60th Conference on Decision and Control (CDC), pp. 6814-6821, 2021.

[C10] Optimal control of battery fast charging based-on Pontryagin’s minimum principle

S. Park, D. Lee, H. J. Ahn, C. J. Tomlin, and S. Moura

IEEE 59th Conference on Decision and Control (CDC), pp. 1078-1085, 2020.

[C9] Hamilton-Jacobi equation for optimal control problems and zero-sum game problems with state constraints

D. Lee, A. Keimer, A. M. Bayen, and C. J. Tomlin

IEEE 59th Conference on Decision and Control (CDC), pp. 1078-1085, 2020.

[C8] Robust trajectory planning for a multirotor against disturbance based on Hamilton-Jacobi reachability analysis

H. Seo, D. Lee, C. Y. Son, C. J. Tomlin, and H. J. Kim

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 3150-3157, 2019.

[C7] Iterative method using the generalized Hopf formula: avoiding spatial discretization for computing solutions of Hamilton-Jacobi equations for nonlinear systems

D. Lee and C. J. Tomlin

IEEE 58th Conference on Decision and Control (CDC), pp. 1517-1522, 2019.

[C6] Removing leaking corners to reduce dimensionality in Hamilton-Jacobi reachability

D. Lee*, M. Chen*, and C. J. Tomlin

IEEE International Conference on Robotics and Automation, pp. 9320-9326, 2019. *equally contributed

[C5] A risk-sensitive finite-time reachability approach for safety of stochastic dynamic systems

M. P. Chapman, J. Lacotte, A. Tamar, D. Lee, K. M. Smith, V. Cheng, J. F. Fisac, S. Jha, M. Pavone, and C. J. Tomlin

American Control Conference, pp. 2958-2963, 2019.

[C4] Wire-driven parallel robotic system and its control for maintenance of offshore wind turbines

D. Lee, S. Oh, and H. I. Son

IEEE International Conference on Robotics and Automation, pp. 902-908, Stockholm, Sweden, 2016.

[C3] Walking pattern generation in sagittal plane possessing characteristics of human normal walking

S. W. Lee, J. Lee, D. Lee, and Y. Oh

IEEE International Conference on Mechatronics and Automation, pp. 1066-1072, Harbin, China, 2016.

[C2] Human-centered evaluation of multi-user teleoperation for mobile manipulator in unmanned offshore plants

D. Lee, G. R. Cho, M. S. Lee, B.-S. Kim, S. Oh, and H. I. Son

IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 5431- 5438, Tokyo, Japan, 2013.

[C1] Position-position control with gain-scheduling for telesurgical systems

J. H. Cho, H. I. Son, T. Bhattacharjee, D. Lee, and D. Y. Lee

Proceedings of the International Conference on Advanced Mechatronics, pp. 283-288, Osaka, Japan, 2010.

Ph.D. Thesis

   Safety-guaranteed autonomy under uncertainty

D. Lee, UC Berkeley, 2022.

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