Research
Research
Research
Research
301+ open-access research outputs.
In this paper, we present the Electric Mobility Dial-a-Ride Problem (EM-DARP), which extends the Electric Vehicle Dial-a-Ride Problem (EV-DARP) to better accommodate human-focused mobility services. T…
This paper discusses robustness guarantees for online tracking of time-varying subspaces from noisy data. Building on recent work in optimization over a Grassmannian manifold, we introduce a new appro…
Integrated Sensing and Communication (ISAC) is a key enabler of high speed, ultra low latency vehicular communication in 6G. ISAC leverages radar signal processing (RSP) to localize multiple unknown t…
Aesthetics - often treated as secondary to function-guides how people interpret robots' roles. A great deal of robot designs - both real and fictitious - use sleek industrial aesthetics. These feature…
In this paper, we propose an adaptive data-driven min-max model predictive control (MPC) scheme for discrete-time linear time-varying (LTV) systems. We assume that prior knowledge of the system dynami…
With the deployment of large antenna arrays at high-frequency bands, future wireless communication systems are likely to operate in the radiative near-field. Unlike far-field beam steering, near-field…
The emerging integration of robots into everyday life brings several major challenges. Compared to classical industrial applications, more flexibility is needed in combination with real-time reactivit…
Despite the extensive body of work on backstepping for one-dimensional PDEs, results in higher dimensions remain comparatively limited. Most available methods either exploit particular symmetries of t…
Humanoid loco-manipulation requires executing precise manipulation tasks while maintaining dynamic stability amid base motion and impacts. Existing approaches typically formulate commands in body-cent…
Why do pretrained diffusion or flow-matching policies fail when the same task is performed near an obstacle, on a shifted support surface, or amid mild clutter? Such failures rarely reflect missing mo…
Max-min-plus-scaling (MMPS) systems generalize max-plus, min-plus and max-min-plus models with more flexibility in modelling discrete-event dynamics. Especially, implicit MMPS models capture a wide ra…
Achieving scalable coordination in large robotic swarms is often constrained by reliance on inter-agent communication, which introduces latency, bandwidth limitations, and vulnerability to failure. To…
The max-min fair (MMF) multicasting problem is known to be NP-hard. In this work, we analytically derive the optimal solution to this NP-hard problem and establish the equivalence between rate balanci…
Sound event localization and detection with distance estimation (3D SELD) in video involves identifying active sound events at each time frame while estimating their spatial coordinates. This multimod…
The fact that robots are getting deployed more often in dynamic environments, together with the increasing complexity of their software systems, raises the need for self-adaptive approaches. In these …
We report a mixed-methods field experiment of a conversational service robot deployed under everyday staffing discretion in a live bedding store. Over 12 days we alternated three conditions--Baseline …
This paper presents a general purpose framework for autonomous, vision-based interception of dynamic, non-cooperative targets, validated across three distinct mobility platforms: an unmanned aerial ve…
Fossil gas is sometimes presented as an enabler of variable solar and wind generation beyond 2050, despite being a primary source of greenhouse gas emissions from methane leakage and combustion. We fi…
Achieving truly adaptive embodied intelligence requires agents that learn not just by imitating static demonstrations, but by continuously improving through environmental interaction, which is akin to…
Fiber reinforcement and polymer matrix respond differently to manufacturing conditions due to mismatch in coefficient of thermal expansion and matrix shrinkage during curing of thermosets. These heter…
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