Research
Research
Research
Research
1,875+ open-access research outputs.
We present a unifying Nearly Asymptotically Invariant Manifold (NAIM) framework for understanding Nesterovs Accelerated Gradient (NAG) method. By lifting the first-order gradient flow into a second-or…
Generative motion prediction must satisfy three simultaneous requirements for real-world autonomy: high accuracy, diverse multimodal futures, and strictly bounded latency. Diffusion models meet the fi…
In practical early-stage battery-electric vehicle studies, analysis workflows may become fragmented across spreadsheets, notebooks, and project-specific scripts, making reuse, audit, and extension har…
Deploying neural-network control barrier functions (CBFs) on embedded hardware requires evaluating the barrier value and its Lie derivatives along the system vector fields at every control cycle. The …
Radar-Inertial Odometry (RIO) based on the Extended Kalman Filter (EKF) relies on accurate extrinsic calibration between the radar and the Inertial Measurement Unit (IMU) and is sensitive to disturban…
Affine frequency division multiplexing (AFDM) has emerged as a promising integrated sensing and communication (ISAC) waveform due to its intrinsic chirp signalling nature. Nevertheless, practical AFDM…
Engineering structures are increasingly designed using numerical optimisation. However, traditional optimisation methods can be challenging with multiple objectives and many parameters. In machine lea…
We present principles of algebraic diversity (AD), a group-theoretic approach to signal processing exploiting signal symmetry to extract more information per observation, complementing classical metho…
In this letter, we propose a sparsification method for precoding codebooks that reduces the peak-to-average power ratio (PAPR) while preserving the achievable rate. By exploiting the fact that precode…
Functional magnetic composites capable of large deformation, load bearing, and multifunctional motion are essential for next-generation adaptive soft robots. Here, we present muscle-inspired magnetic …
Kalman filter-based algorithms are fundamental for mobile robots, as they provide a computationally efficient solution to the challenging problem of state estimation. However, they rely on two main as…
By exploiting noise as an information-bearing resource, noise-driven communication offers a promising framework for low-complexity and secure wireless system design. In this letter, the scheme of tern…
Affine frequency division multiplexing (AFDM), an emerging multi-carrier modulation scheme, has garnered significant attention due to its resilience to Doppler shifts and capability to achieve full di…
Reliable odometry is essential for mobile robots as they increasingly enter more challenging environments, which often contain little information to constrain point cloud registration, resulting in de…
Many problems in robotics require reasoning over a mix of continuous dynamics and discrete events, such as making and breaking contact in manipulation and locomotion. These problems are locally well m…
This paper investigates a fluid reconfigurable intelligent surface (FRIS)-assisted Rydberg Atomic REceiver (RARE) architecture under magnitude-only heterodyne readout. We show that, unlike conventiona…
Accurate state estimation for robotic systems evolving on Lie group manifolds, such as legged robots, is a prerequisite for achieving agile control. However, this task is challenged by nonlinear obser…
Multiple access techniques are vital for 5G and beyond. While Orthogonal Frequency Division Multiple Access (OFDMA) is standard, its high peak-to-average power ratio (PAPR) reduces energy efficiency i…
Power-to-ammonia (P2A) provides a carbon-free alternative to conventional ammonia production by replacing fossil-based feedstocks with electrolytic hydrogen and nitrogen from air separation. For decen…
In this paper, we consider data-driven reconstruction of unknown inputs to linear time-invariant (LTI) multiple-input multiple-output (MIMO) systems. We propose a novel autoregressive estimator based …
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