Research
Research
Research
Research
377+ open-access research outputs.
Alberto Isidori's framework of geometric nonlinear control, and particularly of feedback linearization, is the inspiration behind PDE backstepping: apply a transfromation of the state to cast the plan…
Using self-supervised learning (SSL) models has significantly improved performance for downstream speech tasks, surpassing the capabilities of traditional hand-crafted features. This study investigate…
Localization for autonomous vehicles on highways remains under-explored compared to urban roads, and state-of-the-art methods for urban scenes degrade when directly applied to highways. We identify ke…
The concept of positively invariant (PI) sets has proven effective in the formal verification of stability and safety properties for autonomous systems. However, the characterization of such sets is c…
The system identification capabilities of a novel information-theoretic method are examined here. Specifically, this work uses information-theoretic metrics and vibration-based measurements to enhance…
Neural networks (NNs) have gained significant attention across various engineering disciplines, particularly in design optimization, where they are used to build surrogate models for high-dimensional …
Visual-Inertial Odometry (VIO) is a staple for reliable state estimation on constrained and lightweight platforms due to its versatility and demonstrated performance. However, pertinent challenges reg…
Task-driven design of soft robots requires models that are physically accurate and computationally efficient, while remaining transferable across actuator designs and task scenarios. However, existing…
Agricultural robotics has emerged as a critical solution to the labor shortages and rising costs associated with manual crop harvesting. Bell pepper harvesting, in particular, is a labor-intensive tas…
Positron emission tomography (PET) scans expose patients to radiation, which can be mitigated by reducing the dose, albeit at the cost of diminished quality. This makes low-dose (LD) PET recovery an a…
We propose DistGP: a multi-robot learning method for collaborative learning of a global function using only local experience and computation. We utilise a sparse Gaussian process (GP) model with a fac…
The temporal and spatial analysis of river dynamics is a key factor for studying and understanding human impacts on floodplains. To assess the changes taking place, it is necessary to have high-resolu…
Precise volumetric delineation of hippocampal structures is essential for quantifying neurodevelopmental trajectories in pre-term and term infants, where subtle morphological variations may carry prog…
Phased-array Bluetooth systems have emerged as a low-cost alternative for performing aided inertial navigation in GNSS-denied use cases such as warehouse logistics, drone landings, and autonomous dock…
As the presence of autonomous robots in public spaces increases-whether navigating campus walkways or neighborhood sidewalks-understanding how to carefully study these robots becomes critical. While H…
Multi-static backscatter networks (BNs) are strong candidates for joint communication and localization in the ambient IoT paradigm for 6G. Enabling real-time localization in large-scale multi-static d…
Power system security assessments, e.g. via cascading outage models, often use operational set-points based on optimal power flow (OPF) dispatch. However, driven by cost minimization, OPF provides an …
It is increasingly common for data to possess intricate structure, necessitating new models and analytical tools. Graphs, a prominent type of structure, can encode the relationships between any two en…
This work introduces the first closed-loop adaptive optics (AO) system capable of optically correcting aberrations in real-time without a guidestar or a wavefront sensor. Nearly 40 years ago, Cederqui…
In this paper, we propose a time-division near-field integrated sensing and communication (ISAC) framework for cell-free multiple-input multiple-output (MIMO), where sensing and downlink communication…
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