Research
Research
Research
Research
421+ open-access research outputs.
Localized features such as singularities, sharp gradients, discontinuities, and moving sources require adaptive finite element discretizations. Conventional refinement strategies introduce significant…
The joint training of speech enhancement and speaker embedding networks for speaker recognition is widely adopted under noisy acoustic environments. While effective, this paradigm often fails to lever…
This paper presents a unified control framework for robust trajectory tracking and moving obstacle avoidance applicable to a broad class of mobile robots. By formulating a generalized kinematic transf…
Directional Selective Fixed-Filter Active Noise Control (D-SFANC) can effectively attenuate noise from different directions by selecting the suitable pre-trained control filter based on the Direction-…
An asymmetric two-link robot supported atop a flat platform by wheels that roll and pivot freely, but do not slip laterally, will develop forward momentum if the joint between the links is actuated in…
This paper considers a networked tracking architecture in 6G integrated sensing and communication (ISAC) systems, where multiple base stations (BSs) cooperatively transmit radio signals and process re…
We promote in this paper the processing of radar data in the frequency domain to achieve higher robustness against noise and structural errors, especially in comparison to feature-based methods. This …
Locating and intercepting a moving target from possibly delayed, intermittent sensory signals is a paradigmatic problem in decision-making under uncertainty, and a fundamental challenge for, e.g., ani…
Consider a non-uniform Euler-Bernoulli beam with a tip-mass at one end and a cantilever joint at the other end. The cantilever joint is not fixed and can itself be moved along an axis perpendicular to…
This paper investigates the state estimation problem for linear systems subject to Gaussian noise, where the model parameters are unknown. By formulating and solving an optimization problem that incor…
In this work, we propose an adaptive robust loss function framework for MHE, integrating an adaptive robust loss function to reduce the impact of outliers with a regularization term that avoids naive …
This paper presents a state- and control-dependent moving-horizon estimation (SCD-MHE) algorithm for nonlinear discrete-time systems. Within this framework, a pseudo-linear representation of nonlinear…
Pure Pursuit (PP) is a widely used path-tracking algorithm in autonomous vehicles due to its simplicity and real-time performance. However, its effectiveness is sensitive to the choice of lookahead di…
Deep spatially selective filters achieve high-quality enhancement with real-time capable architectures for stationary speakers of known directions. To retain this level of performance in dynamic scena…
Autonomous exploration by unmanned surface vehicles (USVs) in near-shore waters requires reliable localisation and consistent mapping over extended areas, but this is challenged by GNSS degradation, e…
In this paper we propose a detectability condition for nonlinear continuous-time systems with irregular/infrequent output measurements, namely a sample-based version of incremental integral input/outp…
The Moving Target Vehicle Routing Problem with Obstacles (MT-VRP-O) seeks trajectories for several agents that collectively intercept a set of moving targets. Each target has one or more time windows …
In multi-robot systems, traditional radio frequency (RF) communication struggles with contention and jamming. Optical communication offers a strong alternative. However, conventional frame-based camer…
Accurate 3D volumetric mapping is critical for autonomous underwater vehicles operating in obstacle-rich environments. Vision-based perception provides high-resolution data but fails in turbid conditi…
Robust single-vessel tracking from fixed coastal platforms is hindered by modality-specific degradations: cameras suffer from illumination and visual clutter, while LiDAR performance drops with range …
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