Publications

On the Hamilton-Jacobi Reachability of Systems with Input Delay
S. Oh, D. Lee, H. E. Tseng, G. Pandey, and G. Orosz

A Forward Reachability Perspective on Robust Control Invariance and Discount Factors in Reachability Analysis  
J. J. Choi*, D. Lee*, B. Li, J. P. How, K. Sreenath, S. L. Herbert, and C. J. Tomlin
*equally contributed
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Adaptive Reachability Safety (AReS) Filter for Systems with Unknown Dynamic Models
G. Chenevert, X. Zhang, J. Li, A. Kannan, F. M. Tariq, J. D’sa, D. Isele, S. Bae, and D. Lee
VIDEO

Hopf–Lax-MPC: Generalized Hopf–Lax Formula-based Model Predictive Control for Long-Horizon Real-Time Applications
X. Zhang, B. Bialy, and D. Lee

Least Conservative Robust Safety Filter via Hamilton-Jacobi Reachability Analysis
X. Zhang, Y. Su, G. Chenevert, F. M. Tariq, J. D’sa, D. Isele, S. Bae, and D. Lee
VIDEO

A Hamilton–Jacobi Reachability Framework with Soft Constraints for Safety-Critical Systems
C. E. Mballo, D. Lee, and C. J. Tomlin
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Characterization and Analysis of Emergency Landing Flight Envelopes with Graded Safety Specifications
C. E. Mballo, B. L. Ferguson, Inkyu Jang, D. Lee, and C. J. Tomlin
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Extending and Unifying the Fundamental Tasks of Hamilton-Jacobi Reachability Analysis
D. Hirsch, W. Sharpless, D. Lee, and S. Herbert
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2026

Deep Reinforcement Learning for Reach-Avoid-Stay Problems
G. Chenevert, J. Li, S. Bae, and D. Lee
IEEE International Conference on Robotics and Automation (ICRA), 2026
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Time-Series Data-Driven Three Dimensional Shape Control of Deformable Linear Objects Using a Dual-Arm Robot with Dynamic Model Updating
J. Choi, M. H. Gebrezgihier, D. Lee, and A. Hong
IEEE Robotics and Automation Letters
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2025

ZSG-MPPI: Robust Model-Predictive Path-Integral Method for Disturbance Handling
X. Zhang, G. Chenevert, Y. Su, F. M. Tariq, J. D’sa, S. Bae, and D. Lee
IEEE Robotics and Automation Letters
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Certifiable Reachability Learning Using a New Lipschitz Continuous Value Function
J. Li, D. Lee, J. Lee, K. S. Dong, S. Sojoudi, and C. J. Tomlin
IEEE Robotics and Automation Letters
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2023

Efficient Computation of State-Constrained Reachability Problems Using Hopf-Lax Formulae
D. Lee and C. J. Tomlin
IEEE Transactions on Automatic Control
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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
IEEE International Conference on Robotics and Automation (ICRA), 2023
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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
IEEE International Conference on Robotics and Automation (ICRA), 2023
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2022

Convexifying State-Constrained Optimal Control Problems
D. Lee, S. Deka, and C. J. Tomlin
IEEE Transactions on Automatic Control
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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
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2021

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)
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Robust Control Barrier-Value Functions for Safety-Critical Control
J. J. Choi, D. Lee, K. Sreenath, C. J. Tomlin, and S. L. Herbert
IEEE Conference on Decision and Control (CDC)
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2020

A Hopf-Lax Formula in Hamilton-Jacobi Analysis for Reach-Avoid Problems
D. Lee and C. J. Tomlin
IEEE Control Systems Letters (L-CSS)
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The 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 Conference on Decision and Control (CDC)
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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 Conference on Decision and Control (CDC)
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2019

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)
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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 Conference on Decision and Control (CDC)
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Removing Leaking Corners to Reduce Dimensionality in Hamilton-Jacobi Reachability
D. Lee*, M. Chen*, and C. J. Tomlin
*equally contributed
IEEE International Conference on Robotics and Automation (ICRA)
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