Research
Research
Research
Research
364+ open-access research outputs.
This work presents GS-DOT, a novel image reconstruction framework based on Gaussian Splatting (GS) for diffuse optical tomography (DOT). Inspired by GS for rendering applications, absorption coefficie…
This paper addresses distributed state estimation for multi-agent systems with local and relative measurements, motivated by cooperative localization problems in which the global state dimension scale…
We present the numerical methods and GPU-accelerated implementation underlying a Total Lagrangian finite element framework for finite-deformation flexible multibody dynamics, introduced in the compani…
This paper studies the problem of steering large-scale multi-agent stochastic linear systems between Gaussian distributions under probabilistic collision avoidance constraints. We introduce a family o…
Heterogeneity is a defining feature of deployed multi-robot teams: platforms often differ in sensing modalities, ranges, fields of view, and failure patterns. Controllers trained under nominal sensing…
With the increasing penetration of inverter-based resources (IBRs) in power grids, system-level coordinated optimization of IBR controllers has become increasingly important for maintaining overall sy…
District heating systems (DHSs) require coordinated economic dispatch and temperature regulation under uncertain operating conditions. Existing DHS operation strategies often rely on disturbance forec…
In structured multi-agent transportation systems, agents often must follow predefined routes, making spatial rerouting undesirable or impossible. This paper addresses route-constrained multi-agent coo…
This paper presents a novel hybrid motion planning method for holonomic multi-agent systems. The proposed decentralised model predictive control (MPC) framework tackles the intractability of classical…
This paper proposes a fully decentralized model predictive control (MPC) framework with control barrier function (CBF) constraints for safety-critical trajectory planning in multi-robot legged systems…
Spiking Neural Networks (SNNs) offer an energy efficient alternative to conventional Artificial Neural Networks (ANNs) but typically still require a large number of parameters. This work introduces Li…
This paper proposes a task-oriented model predictive control (ToMPC) framework for safe and efficient robotic manipulation in open workspaces. The framework unifies collision-free motion and robot-env…
Synthesizing high-quality dexterous grasps is a fundamental challenge in robot manipulation, requiring adherence to diversity, kinematic feasibility (valid hand-object contact without penetration), an…
This paper presents a numerical solver for computing continuous trajectories in non-convex environments. Our approach relies on a customized implementation of the Alternating Direction Method of Multi…
Collaborative transportation of heavy payloads via loco-manipulation is a challenging yet essential capability for legged robots operating in complex, unstructured environments. Centralized planning m…
Collaborative Simultaneous Localization and Mapping (C-SLAM) is a fundamental capability for multi-robot teams as it enables downstream tasks like planning and navigation. However, existing C-SLAM bac…
Multi-agent robotic manipulation remains challenging due to the combined demands of coordination, grasp stability, and collision avoidance in shared workspaces. To address these challenges, we propose…
Realizing dexterous embodied manipulation necessitates the deep integration of heterogeneous multimodal sensory inputs. However, current vision-centric paradigms often overlook the critical force and …
Embedded optimization-based planning for hybrid systems is challenging due to the use of mixed-integer programming, which is computationally intensive and often sensitive to the specific numerical for…
We study joint transmit-waveform and receive-filter design for a multi-user downlink integrated sensing and communication (ISAC) system under practical constant-modulus and similarity constraints. We …
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