Research
Research
Research
Research
219+ open-access research outputs.
Joint image compression and wireless transmission remain relatively underexplored compared to generic image restoration, despite its importance in practical communication systems. We formulate this pr…
Autonomous systems are increasingly deployed in real-world environments, where they must achieve high performance while maintaining safety under state and input constraints. Although Model Predictive …
The reproduction of automobile components through additive manufacturing presents significant geometric challenges, as many automotive parts feature complex, organically shaped surfaces that are diffi…
Autonomous racing without prebuilt maps is a grand challenge for embedded robotics that requires kinodynamic planning from instantaneous sensor data at the acceleration and tire friction limits. Out-O…
Cheetahs are characterized by large spinal flexion and extension during high-speed running, yet the dynamical role of the phase relationship between spinal motion and limb support remains unclear. We …
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…
This paper presents an off-axis, monolithic compliant Remote Center of Motion (RCM) joint for neuroendoscopic manipulation, combining near-isotropic stiffness with minimal parasitic motion. Based on t…
Agrivoltaic systems--photovoltaic (PV) panels installed above agricultural land--have emerged as a promising dual-use solution to address competing land demands for food and energy production. In this…
Video action models are an appealing foundation for Vision--Language--Action systems because they can learn visual dynamics from large-scale video data and transfer this knowledge to downstream robot …
Robotic systems often require a team of robots to collectively visit multiple targets while optimizing competing objectives, such as total travel cost and makespan. This setting can be formulated as t…
This study proposes a non-contact photo-reflector-based joint torque sensor for precise joint-level torque control and safe physical interaction. Current-sensor-based torque estimation in many collabo…
This letter presents a geometric input-output analysis of distance-based formation control, focusing on the phenomenon of steady-state signal blocking between actuator and sensor pairs. We characteriz…
We propose a geometric control framework on $SE(3)$ for quadrotors that enforces pointing-driven missions without completing a full attitude reference. The mission is encoded through virtual constrain…
Vision-guided robotic systems are increasingly deployed in precision alignment tasks that require reliable execution under near-field and off-axis configurations. While recent advances in pose estimat…
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…
The Choroid Plexus (ChP) is a highly vascularized brain structure that plays a critical role in several physiological processes. ASCHOPLEX, a deep learning-based segmentation toolbox with an integrate…
We introduce a new class of attitude control laws for rotational systems; the proposed framework generalizes the use of the Euler \mbox{axis--angle} representation beyond quaternion-based formulations…
Mobile robots are increasingly utilized in agriculture to automate labor-intensive tasks such as weeding, sowing, harvesting and soil analysis. Recently, agricultural robots have been developed to det…
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 …
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