Research
Research
Research
Research
39,379+ open-access research outputs.
Robust person tracking is a critical capability for autonomous mobile robots operating in diverse and unpredictable environments. While RGB-D tracking has shown high precision, its performance severel…
This thesis presents a solution that enables aerial robots to reason about surrounding wind flow fields in real time using on board sensors and embedded flight hardware. The core novelty of this resea…
Autonomous motion planning under unknown nonlinear dynamics requires learning system properties while navigating toward a target. In this work, we develop a hierarchical planning-control framework tha…
This paper presents REMind, an innovative educational robot-mediated role-play game designed to support anti-bullying bystander intervention among children. REMind invites players to observe a bullyin…
Safety-critical control of piecewise affine (PWA) systems under bounded additive disturbances requires guarantees not for individual states but for entire state sets simultaneously: a single control a…
Cross-hospital failure in chest X-ray models is often attributed to domain shift, yet most work assumes invariance without measuring it. This paper studies how to measure site leakage directly and how…
In cases of prevalent diseases and disorders, such as Prenatal Alcohol Exposure (PAE), multi-site data collection allows for increased study samples. However, multi-site studies introduce additional v…
Offline reinforcement learning (RL) is an attractive tool for unmanned aerial vehicle (UAV) systems, where online exploration is costly and raises safety concerns. In terrain-aware UAV relaying, agent…
Densely deployed base stations are responsible for the majority of the energy consumed in Radio access network (RAN). While these deployments are crucial to deliver the required data rate in busy hour…
We study the finite-time convergence of projected linear two-time-scale stochastic approximation with constant step sizes and Polyak--Ruppert averaging. We establish an explicit mean-square error boun…
This paper studies contractivity of firing-rate and Hopfield recurrent neural networks. We derive sharp LMI conditions on the synaptic matrices that characterize contractivity of both architectures, f…
The contact-rich nature of manipulation makes it a significant challenge for robotic teleoperation. While haptic feedback is critical for contact-rich tasks, providing intuitive directional cues withi…
This paper introduces a new hybrid framework that combines Reinforcement Learning (RL) and Large Language Models (LLMs) to improve robotic manipulation tasks. By utilizing RL for accurate low-level co…
Video-generative world models are increasingly used as neural simulators for embodied planning and policy learning, yet their ability to predict physical risk and severe consequences is rarely evaluat…
We address the problem of localizing multiple sources in 3D by combining sensor array measurements with camera observations. We propose a fusion framework extending the covariance matrix fitting metho…
We present a passive, data-driven velocity control method for nonlinear robotic manipulators that achieves better tracking performance than optimized PID with comparable design complexity. Using only …
In the reinforcement learning literature, strong theoretical guarantees have been obtained for algorithms applicable to LTI systems. However, in the nonlinear case only weaker results have been obtain…
Future wireless systems increasingly require predictive and transferable representations that can support multiple physical-layer (PHY) tasks under dynamic environments. However, most existing supervi…
Ensuring safe behavior is critical for modern autonomous cyber-physical systems. Control barrier functions (CBFs) are widely used to enforce safety in autonomous systems, yet their placement within ne…
RF fingerprinting authenticates satellite transmitters by exploiting hardware-specific signal impairments, yet existing methods operate without theoretical performance guarantees. We derive the Fisher…
Free open-access publishing with Google Scholar indexing.
Submission Guide →