Research
Research
Research
Research
39,379+ open-access research outputs.
Existing sub-/super-synchronous (SSO) suppression methods for the direct-drive permanent magnet synchronous generators (D-PMSG) integrated power systems are mainly achieved by external devices or sub-…
This work formalizes the differential topology of redundancy resolution for systems governed by signed-quadratic actuation maps. By analyzing the minimally redundant case, the global topology of the c…
Expressive generative models have advanced robotic manipulation by capturing complex, multi-modal action distributions over temporally extended trajectories. However, fine-tuning these policies via RL…
In Europe, balance responsible parties can deliberately take out-of-balance positions to support transmission system operators (TSOs) in maintaining grid stability and earn profit, a practice called i…
This article addresses obstacle avoidance motion planning for autonomous vehicles, specifically focusing on highway overtaking maneuvers. The control design challenge is handled by considering a mathe…
Bayesian optimization is a popular black-box optimization method for parameter learning in control and robotics. It typically requires an objective function that reflects the user's optimization goal.…
Adaptation to complex tasks and multiple scenarios remains a significant challenge for a single robot agent. The ability to acquire organize, and switch between a wide range of skills in real time, pa…
Associating measurements with tracks is a crucial step in Multi-Object Tracking (MOT) to guarantee the safety of autonomous vehicles. To manage the exponentially growing number of track hypotheses, tr…
Accurately modeling agent behaviors is an important task in self-driving. It is also a task with many symmetries, such as equivariance to the order of agents and objects in the scene or equivariance t…
Physically Assistive Robots (PARs) require personalized behaviors to ensure user safety and comfort. However, traditional preference learning methods, like exhaustive pairwise comparisons, cause sever…
In this paper, we propose a learning framework for synthesizing a robust controller for dynamical systems evolving on a Lie group. A robust control contraction metric (RCCM) and a neural feedback cont…
Vision-based policies have achieved a good performance in robotic manipulation due to the accessibility and richness of visual observations. However, purely visual sensing becomes insufficient in cont…
Control barrier function (CBF)-based safety filters provide a systematic way to enforce state constraints, but they can significantly alter the closed-loop dynamics induced by a nominal, stabilizing c…
Estimating the dissipativity of nonlinear systems from empirical data is useful for the analysis and control of nonlinear systems, especially when an accurate model is unavailable. Based on a Koopman …
We investigate the data-driven discovery of constitutive closures in nonlinear reaction-diffusion systems with known governing PDE structures. Our objective is to robustly recover diffusion and reacti…
Macroscopic unmanned aerial vehicle (UAV) traffic organization in three-dimensional airspace faces significant challenges from static wind fields and complex obstacles. A critical difficulty lies in s…
We introduce SoftAct, a framework for teaching soft robot hands to perform human-like manipulation skills by explicitly reasoning about contact forces. Leveraging immersive virtual reality, our system…
Efficient robotic extraterrestrial exploration requires robots with diverse capabilities, ranging from scientific measurement tools to advanced locomotion. A robotic team enables the distribution of t…
Neural network (NN) controllers achieve strong empirical performance on nonlinear dynamical systems, yet deploying them in safety-critical settings requires robustness to disturbances and uncertainty.…
Uncertainty quantification is essential when deploying learning-based control methods in safety-critical systems. This is commonly realized by constructing uncertainty tubes that enclose the unknown f…
Free open-access publishing with Google Scholar indexing.
Submission Guide →