Research
Research
Research
Research
16,150+ open-access research outputs.
Accurate state estimation of nonlinear dynamical systems is fundamental to modern aerospace operations across air, sea, and space domains. Online tracking of adversarial unmanned aerial vehicles (UAVs…
We show that every minimally generically globally rigid graph in $\mathbb R^d$ which contains a subgraph isomorphic to $K_{d+2}$ is itself isomorphic to $K_{d+2}$, confirming a conjecture by Garamv{\"…
In this paper, we investigate the existence of fixed-point-free automorphisms for finite-dimensional Lie algebras. By a result of Jacobson, a Lie algebra admitting a fixed-point-free automorphism is s…
A pygmy shrew (\textit{Suncus etruscus}, ${\approx}2$\,g) sustains a resting heart rate near $1{,}000$\,beats\,min$^{-1}$ and dies within two years; an African elephant (${\approx}4{,}000$\,kg) beats …
Multispectral polarisation imaging has a broad range of applications, from biological cell imaging to agricultural remote surveying. For such applications, especially involving lightweight unmanned ae…
Artificial intelligence (AI) is now embedded in educational, civic, and economic systems worldwide. For African primary and secondary education, this creates a double imperative: to prepare a young po…
Future uncrewed aerial vehicle (UAV) systems increasingly combine heterogeneous communication technologies, such as low-latency aerial mesh, terrestrial cellular, and satellite links, to improve robus…
With the widespread application of Unmanned Aerial Vehicles (UAVs) in bridge structural health monitoring, deep learning-based automatic crack detection has become a major research focus. However, pra…
We adapted the Reliable Change Index (RCI; Jacobson and Truax, 1991) from clinical psychology to item-level LLM version comparison on 2,000 MMLU-Pro items (K=10 samples at T=0.7). Two within-family pa…
Accurate segmentation and localization of left atrial (LA) ablation scars from Late gadolinium enhancement (LGE)-MRI is essential for assessing the lesion completeness and guiding ablation therapy. In…
Fine-grained RGBT image semantic segmentation is crucial for all-weather unmanned aerial vehicle (UAV) scene understanding. However, UAV RGBT semantic segmentation faces two coupled challenges: cross-…
Africa is the primary source of cyclonic vortices over the tropical Atlantic. Over both land and sea, these vortices are entwined with deep convective activity, with the majority being African Easterl…
This paper presents a hierarchical decision-making framework for unmanned aerial vehicle (UAV) missions motivated by search-and-rescue (SAR) scenarios under limited simulation training. The framework …
Despite the rapid progress in data-driven 3D vision, aerial geometric 3D vision remains a formidable challenge due to the severe scarcity of large-scale, high-fidelity training data. Existing benchmar…
Aerial-Ground Re-Identification (AG-ReID) is constrained by the viewpoint-domain gap, as drastic viewpoint disparities occlude or distort discriminative features, making cross-viewpoint image retrieva…
In several applications it is desired to have 3D models not only from the outdoor spaces but also from inside the building. In the context of First Responder enhancement in large scale natural and man…
We report our multi-stage framework designed for the problem of multi-class bi-atrial segmentation from 3D late gadolinium-enhanced (LGE) MRI of the human heart. The pipeline consists of a preprocessi…
Reliable backup localization for unmanned aerial vehicles (UAVs) operating in GNSS-denied nighttime conditions remains an open challenge due to the severe modality gap between daytime RGB maps and nig…
Microservice-based systems impose significant organizational coordination challenges, yet the role of individual developers in shaping organizational coupling (OC) remains underexplored. Prior work la…
This paper presents a sensitivity-based tube Nonlinear Model Predictive Control (NMPC) framework for cooperative aerial chains under bounded parametric uncertainty. We consider a planar two-vehicle ch…
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