Research
Research
Research
Research
39,379+ open-access research outputs.
Path planning is usually solved by addressing either the (high-level) route planning problem (waypoint sequencing to achieve the final goal) or the (low-level) path planning problem (trajectory predic…
Generating trajectories for synthetic aperture radar (SAR)-equipped aircraft poses significant challenges due to terrain constraints, and the need for straight-flight segments to ensure high-quality i…
An inherent assumption of perfect tracking in iterative learning control (ILC) is that there exists an ILC input such that the generated output can track the desired trajectory reference. This assumpt…
Generalist embodied agents must perform interactive, causally-dependent reasoning, continually interacting with the environment, acquiring information, and updating plans to solve long-horizon tasks b…
Fast execution of contact-rich manipulation is critical for practical deployment, yet providing fast demonstrations for imitation learning (IL) remains challenging: humans cannot demonstrate at high s…
Can we learn the physics of matter in motion directly from images and video--and trust it? Answering this question requires integrating experiments, physics-based simulation, and data across tradition…
This paper presents an online reinforcement-learning framework for safe gain scheduling of a nonlinear quadcopter controller. Rather than learning thrust and torque commands directly, the proposed met…
Beam training and prediction in real-world millimeter-wave (mmWave) communications systems are challenging due to rapidly time-varying channels and strong interference from surrounding objects. In thi…
Prolonged blackouts in distribution systems (DSs) with high penetration of distributed energy resources (DERs) necessitate novel restoration strategies to rapidly restore loads. However, the resulting…
Road traffic accidents are a leading cause of fatalities worldwide. In the US, human error causes 94% of crashes, resulting in excess of 7,000 pedestrian fatalities and $500 billion in costs annually.…
Imitation learning has enabled robots to acquire complex visuomotor manipulation skills from demonstrations, but deployment failures remain a major obstacle, especially for long-horizon action-chunked…
Microgrid operation is highly vulnerable to short-term load uncertainty, while conventional predict-then-optimize pipelines cannot fully align probabilistic forecasting quality with downstream robust …
Buildings account for approximately 40% of global energy consumption, and with the growing share of intermittent renewable energy sources, enabling demand-side flexibility, particularly in heating, ve…
Vine-inspired robots achieve large workspace coverage through tip eversion, enabling safe navigation in confined and cluttered environments. However, their deployment in free space is fundamentally li…
Lamarckian inheritance has been shown to be a powerful accelerator in systems where the joint evolution of robot morphologies and controllers is enhanced with individual learning. Its defining advanta…
Learning robust robot policies in real-world environments requires diverse data augmentation, yet scaling real-world data collection is costly due to the need for acquiring physical assets and reconfi…
Reinforcement learning (RL) often struggles in real-world tasks with high-dimensional state spaces and long horizons, where sparse or fixed rewards severely slow down exploration and cause agents to g…
Artificial Intelligence (AI), especially cloud platforms and large language models (LLMs), is changing how engineering is taught by making learning more interactive and flexible. However, in electrica…
Recovering a source signal from indirect measurements often requires estimating latent parameters, such as wireless channel states or MRI coil sensitivities, that cannot be directly observed. Here, we…
This paper presents a novel density control framework for multi-robot systems with spatial safety and energy sustainability guarantees. Stochastic robot motion is encoded through the Fokker-Planck Par…
Free open-access publishing with Google Scholar indexing.
Submission Guide →