Research
Research
Research
Research
330+ open-access research outputs.
Autonomous medical robots hold promise to improve patient outcomes, reduce provider workload, democratize access to care, and enable superhuman precision. However, autonomous medical robotics has been…
This paper studies end-to-end latency minimization for a multi-band radar sensing and deep neural network (DNN) inference pipeline. Unlike conventional stage-wise designs that treat radar sensing and …
This paper presents a novel nonlinear backstepping control law for continuous, low-thrust station-keeping in the Earth-Moon system. Quasi-periodic libration point orbits are targeted under a high-fide…
Online map generation and trajectory prediction are critical components of the autonomous driving perception-prediction-planning pipeline. While modern vectorized mapping models achieve high geometric…
Future lunar missions will require autonomous rovers capable of traversing tens of kilometers across challenging terrain while maintaining accurate localization and producing globally consistent maps.…
Planetary bodies characterized by low gravitational acceleration, such as the Moon and near-Earth asteroids, impose unique locomotion constraints due to diminished contact forces and extended airborne…
In recent years, the Moon has emerged as an unparalleled extraterrestrial testbed for advancing cuttingedge technological and scientific research critical to enabling sustained human presence on its s…
Autonomous mobile service robots, like lawnmowers or cleaning robots, operating in human-populated environments need to reason about local human-human interactions to support safe and socially aware n…
Designing robust trajectories under uncertainties is an emerging technology that may represent a key paradigm shift in space mission design. As we pursue more ambitious scientific goals (e.g., multi-m…
This paper presents a low-thrust trajectory optimization strategy to achieve a near-circular lunar orbit for a CubeSat injected into a lunar flyby trajectory. The 12U CubeSat HORYU-VI is equipped with…
Asset retrieval--finding similar assets in a financial universe--is central to quantitative investment decision-making. Existing approaches define similarity through historical price patterns or secto…
Trajectory planning is a core task in autonomous driving, requiring the prediction of safe and comfortable paths across diverse scenarios. Integrating Multi-modal Large Language Models (MLLMs) with Re…
Bootstrap-based Self-Supervised Learning (SSL) has achieved remarkable progress in audio understanding. However, existing methods typically operate at a single level of granularity, limiting their abi…
Decentralized collaborative simultaneous localization and mapping (C-SLAM) is essential to enable multirobot missions in unknown environments without relying on preexisting localization and communicat…
Robotic prospecting for critical resources on the Moon, such as ilmenite, rare earth elements, and water ice, requires robust exploration methods given the diverse terrain and harsh environmental cond…
Recent progress of voice conversion~(VC) has achieved a new milestone in speaker cloning and linguistic preservation. But the field remains fragmented, relying on specialized models for linguistic-pre…
Power system outages expose market participants to significant financial risk unless promptly detected and hedged. We develop an outage identification method from public market signals grounded in the…
Since the successful Apollo program, humanity is once again aiming to return to the Moon for scientific discovery, resource mining, and inhabitation. Upcoming decades focus on building a lunar outpost…
In this paper, we present the development of 4-DOF robot limbs, which we call Moonbots, designed to connect in various configurations with each other and wheel modules, enabling adaptation to differen…
The allure of lunar surface exploration and development has recently captured widespread global attention. Robots have proved to be indispensable for exploring uncharted terrains, uncovering and lever…
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