A man has been shot and killed while exchanging gunfire with police outside a home in Lansing.

Officers were attempting to serve a search warrant about 5 a.m. Tuesday when the man threatened them with a weapon, Police Chief Ellery Sosebee told reporters.

As officers were trying to negotiate with the man, he came out of the home firing shots, the police department said.

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Police shot and killed a man in Lansing, Michigan, after the man shot at the officers.

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Officers returned fire, striking him. He later was pronounced dead at a hospital.

Police identified the man as Terrence Robinson, 31, of Lansing.

The shooting was being investigated by the state police.

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Officers initially responded to a report of shots fired in the area. They sought a search warrant after learning several vehicles outside the home had been stolen, police said.