Research
Research
Research
Research
17+ open-access research outputs.
We present a computational framework for synthesizing a single smooth Lyapunov function that certifies both asymptotic stability and safety. We show that the existence of a strictly compatible pair of…
This paper presents a technique for designing output feedback controllers for constrained linear parameter-varying systems that are subject to persistent disturbances. Specifically, we develop an incr…
This work presents a vision-based underwater exploration and inspection autonomy solution integrated into Ariel, a custom vision-driven underwater robot. Ariel carries a $5$ camera and IMU based sensi…
What is the globally smallest load perturbation that renders DC-OPF infeasible? Reliably identifying such "adversarial attack" perturbations has useful applications in a variety of emerging grid-relat…
This paper explores the integration of power splitting(PS) simultaneous wireless information and power transfer (SWIPT) architecture and federated learning (FL) in Internet of Things (IoT) networks. T…
We investigate discrete-time conewise linear systems (CLS) for which all the solutions exhibit a finite number of switches. By switches, we mean transitions of a solution from one cone to another. Our…
A novel perspective on the design of robust model predictive control (MPC) methods is presented, whereby closed-loop constraint satisfaction is ensured using recursive feasibility of the MPC optimizat…
Multi-agent systems, e.g., automobiles and UAVs (Unmanned Ariel Vehicles), rely on the precision of onboard sensors to accurately perceive their environment, which in turn depends on the precision of …
The use of Unmanned Arial Vehicles (UAVs) offers many advantages across a variety of applications. However, safety assurance is a key barrier to widespread usage, especially given the unpredictable op…
Reinforcement learning (RL) algorithms hold the promise of enabling autonomous skill acquisition for robotic systems. However, in practice, real-world robotic RL typically requires time consuming data…
Bundling a large number of distributed energy resources through a load aggregator has been advocated as an effective means to integrate such resources into whole-sale energy markets. To ease market cl…
The usage of Reconfigurable Intelligent Surfaces (RIS) in conjunction with Unmanned Ariel Vehicles (UAVs) is being investigated as a way to provide energy-efficient communication to ground users in de…
The digital revolution has replaced the use of printed documents with their digital counterparts. However, many applications require the use of both due to several factors, including challenges of dig…
This paper describes Ariel Team's autonomous racing controller for the Indy Autonomous Challenge (IAC) simulation race. IAC is the first multi-vehicle autonomous head-to-head competition, reaching spe…
Multiple Input Multiple Output (MIMO) Frequency Modulated Continuous Wave (FMCW) radars operating at 79GHz are compact, light and cost effective devices with low peak-to-average power ratio that have …
We propose control systems for the coordination of the ground robots. We develop robot efficient coordination using the devices located on towers or a tethered aerial apparatus tracing the robots on c…
When there is a possibility to wirelessly stream video over a network, a sophisticated computer analysis of the transmitted video is possible. Such process is used in biomechanics when it is important…
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