Publications

[C] K. Lee, "Optimal Coverage of Priority Maps via Density-Driven Control in Discrete-Time Nonlinear Multi-Agent Systems," (in preparation)

[C] M. Soroori and K. Lee, "A Riemannian Framework for Priority-Aware Region Visitation in Mobile Robot Missions," (in preparation)

[C] E. Brook and K. Lee, "Connectivity-Preserving Optimal Multi-Agent Formation Control for Density-Based Area Coverage," (in preparation)

[C] J. Martinez, N. Devlin, and K. Lee, "An AI-Assisted Reference Map Refinement Framework for Density-Driven Area Exploration," (in preparation)

[J] M. Soroori and K. Lee, "Collision-Free Geodesic Trajectories via Exponential Mapping and Ricci Flow with Obstacle-Aware Injectivity Radius," (in preparation)

[J] S. Seo and K. Lee, "Predictive Sanitization: AI-Guided Density-Driven Control of Airport Cleaning Robots," (in preparation)

[J] M. Afrazi and K. Lee, "Density-Guided UAV Coordination for Spatio-Temporal Air Quality Monitoring," (in preparation)

[J] K. Lee, "Density-Driven Optimal Control: Convergence Guarantees for Stochastic LTI Multi-Agent Systems," (under review)

[J] K. Lee, "Decentralized Multi-Agent Distribution Matching with Near-Optimal Convergence Guarantees," (under review)

[J] S. Seo and K. Lee, "Density-Driven Multi-Drone Coordination for Efficient Farm Coverage and Management in Smart Agriculture," (under review)

[J] M. Afrazi, S. Seo, and K. Lee, "Optimizing Multi-Agent UAV Systems for Efficient Victim Detection in Large-Scale Disaster Scenarios," (under review)

M. Afrazi and K. Lee, "The Use of Robotics in Tunnel Inspection and Maintenance: A Comprehensive Review." Advancements in Underground Infrastructures. CRC Press, 2025. 1-24.

M. Afrazi and K. Lee, "Autonomous Mapping and Exploration of Underground Structures." Advancements in Underground Infrastructures. CRC Press, 2025. 401-433.

S. Seo and K. Lee, "Density-Driven Optimal Control for Efficient and Collaborative Multi-Agent Non-Uniform Coveragage," IEEE Transaction on Systems, Man and Cybernetics: Systems, 2025 (accepted).

S. Seo, and K. Lee, "On the Convergence of Density-Based Predictive Control for Multi-Agent Non-Uniform Area Coverage," ASME Journal of  Dynamic Systems, Measurement, and Control, 2025 (provisionally accepted).

G. Macias and K. Lee, “Design and Analysis of a Helium-Assisted Hybrid Drone for Flight Time Enhancement, ”American Journal of Engineering and Applied Sciences, 15(4), 315-329, 2022.

L. Strebe and K. Lee, “Using optimal control theory to improve path planning for battery energy maximization of an unmanned ground vehicle,” Journal of Machine Intelligence and Data Science, Vol. 3, 36-45, 2022.

K. Lee and R.H. Kabir, "Density-Aware Decentralized Multi-Agent Exploration with Energy Constraint based on Optimal Transport Theory," International Journal of Systems Science, 53 (4), 851-869, 2022.

K. Lee and G. Macias, "Asynchronous Distributed Averaging: A Switched System Framework for Average Error Analysis," International Journal of Control, Automation and Systems, 20 (3), 869-876, 2022.

R. H. Kabir and K. Lee, "Wildlife Monitoring using a Multi-UAV System with Optimal Transport Theory," Applied Sciences 11 (9), 4070, 2021.

K. Lee, "A Stabilizing Control Algorithm for Asynchronous Parallel Quadratic Programming via Dual Decomposition," ASME Letters in Dynamic Systems and Control,1 (1), 011002, 2021.

M. Lin and K. Lee, "Outdoor Target Positioning using Wii Remote IR Camera and Signal Modulation," Sensors 20 (8), 2163, 2020.

M. Hassanalian, A. Mirzaeinia, K. Lee, and M. Mirzaeinia, “Energy conservation of V-shaped swarming fixed-wing drones through position reconfiguration,“ Aerospace Science and Technology 94, 105398, 2019.

K. Lee, “Effect of Asynchronous Communications on Stationary Solutions for Discrete-Time Multi-Agent Systems,“ IEEE Transactions on Systems, Man and Cybernetics: Systems, 2019.

S. Weber and K. Lee, "Implementation of the Central Limit Theorem to Sensor Fusion in Drone Applications," New Mexico Journal of Science, Vol. 53, No. 1, 2019.

B. Molley and K. Lee, “Accurate Positioning of Quadrotor UAVs using a Wii Remote Camera and Signal Modulations for Outdoor Precision Landing,“ New Mexico Journal of Science, Vol. 52, No. 1, 2018.

K. Lee and R. Bhattacharya, “Optimal Controller Switching for Resource-Constrained Dynamical Systems,” International Journal of Control, Automation and Systems: 1-9, 2018.

K. Lee and R. Bhattacharya, “Stability Analysis of Large-Scale Distributed Networked Control Systems with Random Communication Delays: A Switched System Approach”, Systems & Control Letters 85 (2015), pages 77-83, 2015. 

A. Halder, K. Lee, and R. Bhattacharya, “Optimal Transport Approach for Probabilistic Robustness Analysis of F-16 Controllers”, Journal of Guidance, Control, and Dynamics (2015), pages 1-12, 2015. 

K. Lee, A. Halder, and R. Bhattacharya, “Performance and Robustness Analysis of Stochastic Jump Linear Systems using Wasserstein metric”, Automatica, Vol. 51, pages 341-347, 2015. 

K. Lee, C. Jung, D. Jung, and W. Chung, “Accurate Calibration of Kinematic Parameters for Two Wheel Differential Drive Robots by Considering the Coupled Effect of Error Sources”, Journal of Korea Robotics Society, Vol. 9, No 1, pages 39-47, 2014.

K. Yoo, K. Lee, C. Jung, and W. Chung, “Convergence Analysis of Kinematic Parameter Calibration for a Car-Like Mobile Robot”, Journal of Institute of Control, Robotics and Systems, Vol. 17, No 12, pages 1256-1265, 2011.

K. Lee, C. Jung, and W. Chung, “Accurate Calibration of Kinematic Parameters for Two Wheel Differential Mobile Robots”, Journal of Mechanical Science and Technology, Vol. 25, No 6, pages 1603-1611, 2011. 

K. Lee, W. Chung, and K. Yoo, “Kinematic parameter calibration of a Car-Like Mobile Robot to improve odometry accuracy”, Mechatronics, Vol. 20, Issue 5, pages 582-595, 2010. 

K. Lee, W. Chung and H. Chang, "Improvement of odometry accuracy and parking control for a car-like mobile robot", Journal of Korea Robotics Society, Vol.3 No.1 pages 16-22, 2008.

S. Seo, M. Afrazi, and K. Lee, "An Optimal Transport-based Downsampling Technique for Handling Imbalanced Datasets," The 5th Modeling, Estimation and Control Conference (MECC 2025), to appear, 2025.

S. Seo, and K. Lee, "Collision-Aware Density-Driven Control of Multi-Agent Systems via Control Barrier Functions," The 5th Modeling, Estimation and Control Conference (MECC 2025), to appear, 2025. 

M. Soroori and K. Lee, "Geodesic Path Planning for Robotic Tumor Site Visitation in Medical Applications," The 5th Modeling, Estimation and Control Conference (MECC 2025), to appear, 2025.

M. Afrazi and K. Lee, "Impact of Asynchronous Communications on Microgrid State Estimation Performance," The 5th Modeling, Estimation and Control Conference (MECC 2025), to appear, 2025. 

M. Afrazi, S. Seo, and K. Lee, "Density-Driven Formation Control of a Multi-Agent System with an Application to Search-and-Rescue Missions," 2025 American Control Conference (ACC), to appear, 2025.

M. Soroori and K. Lee, "Geodesic Path Planning using Exponential Map with Injectivity Radius," 2025 American Control Conference (ACC), to appear, 2025.

L. Strebe and K. Lee, "Optimal Path Planning of a Solar-Powered Unmanned Ground Vehicle in an Unknown Solar Environment with Multi-Objective Optimization," 2024 American Control Conference (ACC), pages 1311-1316, 2024.

S. Seo, and K. Lee, "Density-Driven Multi-Agent Swarm Control with Potential Field Based Collision Avoidance", 2023 IEEE 14th Annual Ubiquitous Computing, Electronics & Mobile Communication Conference (UEMCON), 2023.

G. Macias and K. Lee, "Informative Path Planning Algorithm for the Exploration of Unknown 2D Environments, 2023 IEEE 14th Annual Ubiquitous Computing, Electronics & Mobile Communication Conference (UEMCON), 2023. (Best Paper Award)

G. Macias and K. Lee, “Optimal Gas Leak Localization and Detection using an Autonomous Mobile Robot,” 2022 9th International Conference of Control, Dynamic Systems, and Robotics (CDSR'22), 2022.

L. Strebe and K. Lee, “Battery Energy Maximization of a Solar Powered Unmanned Ground Vehicle in an Unknown Environment,” 2022 9th International Conference of Control, Dynamic Systems, and Robotics (CDSR'22), 2022. (Best Paper Award)

R. H. Kabir and K. Lee, "Efficient, Decentralized, and Collaborative Multi-Robot Exploration using Optimal Transport Theory," American Control Conference (ACC), pages 4203-4208, 2021.

J. Garcia and K. Lee, "Design and Analysis of a New Mechanism for a Snake Like Robot," 2020 ASME Dynamic Systems and Control Conference (DSCC) 84270, V001T18A002, 2020.

R. H. Kabir and K. Lee, "On the Ergodicity of an Autonomous Robot for Efficient Environment Explorations," 2020 ASME Dynamic Systems and Control Conference (DSCC), 84287, V002T31A00, 2020.

R. H. Kabir and K. Lee, “Receding-Horizon Ergodic Exploration Planning using Optimal Transport Theory“, 2020 American Control Conference (ACC), pages 1447-1452, 2020.

M. Hassanalian, K. Lee, and A. Mirzaeinia, “Smart Cities and Organizing the Drones’ Applications in Urban Areas: N.E.ST (Networking, Efficient, Strategies)“, AIAA SciTech 2020 Forum, 1944, 2020.

A. Mirzaeinia, M. Hassanalian, and K. Lee, “Drones for Borders Surveillance: Autonomous Battery Maintenance Station and Replacement for Multirotor Drones“, AIAA SciTech 2020 Forum, 0062, 2020.

C. Dotson, G. Macias, and K. Lee, “Energy-Balanced Leader-Switching Policy for Formation Rotation Control of Multi-Agent Systems inspired by Bird Flocks“, ASME Dynamic Systems and Control Conference (DSCC), 59155, V002T15A002, 2019.

K. Lee, “A Stabilizing Control Algorithm for Asynchronous Parallel Quadratic Programming via Dual Decomposition“, 2019 ASME Dynamic Systems and Control Conference (DSCC), 2019.

A. Mirzaeinia, M. Hassanalian, K. Lee, & M. Mirzaeinia, “Performance Enhancement and Load Balancing of Swarming Drones through Position Reconfiguration“, In AIAA Aviation 2019 Forum, p. 3463, 2019.

R. N. Sappington, G. A. Acosta, M. Hassanalian, K. Lee, & R. Morelli, “Drone Stations in Airports for Runway and Airplane Inspection Using Image Processing Techniques“, In AIAA Aviation 2019 Forum, p. 3316, 2019.

K. Lee and R. Bhattacharya, "On the Uniqueness of Stationary Solutions of an Asynchronous Parallel and Distributed Algorithm for Diffusion Equations", IEEE Anual Computing and Communication Workshop and Conference (CCWC), Las Vegas, Nevada, USA, 2019.

K. Lee, S. Martinez, J. Cortes, R. H. Chen, and M. B. Milam, “Receding-Horizon Multi-Objective Optimization for Disaster Response”, 2018 American Control Conference (ACC), pages 5304-5309, Milwaukee, WI, USA, 2018.

K. Lee and R. Bhattacharya, “On Relaxed Synchronization Strategy for Parallel Iterative Numerical Algorithms”, 2016 American Control Conference (ACC), pages 3334-3339, Boston, MA, USA, 2016.

K. Lee, R. Bhattacharya, J. Dass, V. Sakuru, and R. Mahapatra, “A Relaxed Synchronization Approach for Solving Parallel Quadratic Programming Problems with Guaranteed Convergence”, IEEE International Parallel & Distributed Processing Symposium (IPDPS), 2016 (acceptance rate: 23%).

K. Lee, R. Bhattacharya, and V. Gupta, “A Switched Dynamical System Framework for Analysis of Massively Parallel Asynchronous Numerical Algorithms”, 2015 American Control Conference (ACC), pages 1095-1100, Chicago, Illinois, USA, 2015. 

A. Halder, K. Lee, and R. Bhattacharya, “A Dynamical System Pair with Identical First Two Moments But Different Probability Densities”, 2014 Conference on Decision and Control Conference (CDC), pages 6044-6049, LA, California, USA, 2014. 

K. Lee and R. Bhattacharya, “Optimal Switching Synthesis for Jump Linear Systems with Gaussian initial state uncertainty”, 2014 ASME Dynamic Systems and Control Conference (DSCC), San Antonio, Texas, USA, 2014. 

K. Lee, A. Halder , and R. Bhattacharya, “Probabilistic Robustness Analysis of Stochastic Jump Linear System”, 2014 American Control Conference (ACC), pages 2638-2643, Portland, Oregon, USA, 2014. 

A. Halder, K. Lee, and R. Bhattacharya, “Probabilistic Robustness Analysis of F-16 Controller Performance: An Optimal Transport Approach”, 2013 American Control Conference (ACC), pages 5562-5567, Washington, D.C., USA, 2013. 

C. Jung, K. Lee, and W. Chung, “Accurate calibration of Systematic odometry errors for mobile robots”, In Proceeding of the Korean Society of Mechanical Engineers, pages 1065-1068, 2010.

K. Lee and W. Chung, “Calibration of Kinematic Parameters of a Car-Like Mobile Robot to Improve Odometry Accuracy”, In Proceeding of 2008 IEEE/RASInternational Conference on Robotics and Automation (ICRA), pages 2546-2551, Pasadena, CA, USA, 2008. 

K. Lee and W. Chung, “Experimental Research of Car Parking Control using a RC Car”, In Proceeding of the 13th International Conference on Advanced Robotics (ICAR), pages 247-252, Jeju, Korea, 2007.

K. Lee, W. Chung, H. Chang, “Improvement of odometry accuracy and Parking Control for a Car-Like Mobile Robot”, In Proceeding of the 2nd Korea robot conference, pages 505-511, Korea, 2007.

S. Hong, J. Won, K. Lee, W. Chung, “Backward Parking Motion Control of a Car with Passive Trailers”, In Proceeding of the 2nd Korea robot conference, pages 519-523, Korea, 2007.

K. Lee, W. Chung, H. Chang, P. Yoon, “Odometry Calibration of a Car-Like Mobile Robot”, In Proceeding of International Conference on Control, Automation and Systems (ICCAS), pages 684-689, Korea, 2007. 

D. Kim, W. Chung, K. Lee " Collision-free Path Planning for a Car Parking Problem ", In Proceeding of the 3rd International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), pages 321-326,  Seoul, Korea, 2006.

K. Lee, D. Kim, W. Chung, H. Chang, P. Yoon "Car Parking Control using a Trajectory Tracking Controller", In Proceeding of SICE-ICCAS, pages 2058-2063, Busan, Korea, 2006. 

D. Kim, K. Lee, W. Chung, H. Chang, P. Yoon "Parking control of a RC car by using a trajectory tracking controller", In Proceeding of 1st Korea robot conference, pages 448-455, Jeju, Korea, 2006.