Research
Research
Research
Research
308+ 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…
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…
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…
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…
Assistive electric-powered wheelchairs (EPWs) have become essential mobility aids for people with disabilities such as amyotrophic lateral sclerosis (ALS), post-stroke hemiplegia, and dementia-related…
Known-interference cancellation (KIC) in combination with cooperative jamming can be used to provide covertness and security to wireless communications at the physical layer. However, since the signal…
Vulnerable road users (VRUs) face high collision risks in mixed traffic, yet most existing safety systems prioritize driver or vehicle assistance over direct VRU support. This paper presents ARCAS, a …
Wildlife monitoring with drones must balance competing demands: approaching close enough to capture behaviorally-relevant video while avoiding stress responses that compromise animal welfare and data …
Mechanical control systems such as aerial, marine, space, and terrestrial robots often naturally admit a state-space that has the structure of a Lie group. The kinetic energy of such systems is common…
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