Research
Research
Research
Research
174+ open-access research outputs.
In this study, we propose a new sheepdog-inspired control method for a swarm of small unmanned aerial vehicles (UAVs), which predicts the swarm behavior while explicitly accounting for the motion cons…
Conventional mobile tensegrity robots constructed with straight links offer mobility at the cost of locomotion speed. While spherical robots provide highly effective rolling behavior, they often lack …
Generalizing decentralized multi-robot cooperative transport across objects with diverse shapes and physical properties remains a fundamental challenge. Under decentralized execution, two key challeng…
Footstep planning involves a challenging combinatorial search. Traditional A* approaches require discretising reachability constraints, while Mixed-Integer Programming (MIP) supports continuous formul…
The success of surveillance applications involving small unmanned aerial vehicles (UAVs) depends on how long the limited on-board power would persist. To cope with this challenge, alternative renewabl…
We address dynamic manipulation of deformable linear objects by presenting SPiD, a physics-informed self-supervised learning framework that couples an accurate deformable object model with an augmente…
The exploitation of mineral resources in plateau regions is confronted with critical challenges including low blasting efficiency, excessive energy consumption,and compromised operational safety when …
Automating experimental protocol design and execution remains as a fundamental bottleneck in realizing self-driving laboratories. We introduce PRISM (Protocol Refinement through Intelligent Simulation…
One of the main limitations of multirotor UAVs is their short flight time due to battery constraints. A practical solution for continuous operation is to power the drone from the ground via a tether. …
Learning soft continuum robot (SCR) dynamics from video offers flexibility but existing methods lack interpretability or rely on prior assumptions. Model-based approaches require prior knowledge and m…
Rationale and Objectives: Computer-aided detection systems for chest radiographs are widely used, and concurrent reader displays, such as bounding-box (BB) highlights, may influence the reading proces…
Synthetic Aperture Radar (SAR) image captioning enables scene-level semantic understanding and plays a crucial role in applications such as military intelligence and urban planning, but its developmen…
We study decentralized cooperative transport using teams of N-quadruped robots with arm that must pinch, lift, and move ungraspable objects through physical contact alone. Unlike prior work that relie…
Unmanned aerial vehicles (UAVs) with suspended payloads offer significant advantages for aerial transportation in complex and cluttered environments. However, existing systems face critical limitation…
The non-invasive assessment of increasingly incidentally discovered renal masses is a critical challenge in urologic oncology, where diagnostic uncertainty frequently leads to the overtreatment of ben…
Existing literature proposes models for estimating the electrical power of manipulators, yet two primary limitations prevail. First, most models are predominantly tested using traditional industrial r…
Robotic cutting is a challenging contact-rich manipulation task where the robot must simultaneously negotiate unknown object mechanics, large contact forces, and precise motion requirements. We introd…
In the context of Synthetic Aperture Radar (SAR) image recognition, traditional methods often struggle with the intrinsic limitations of SAR data, such as weak texture, high noise, and ambiguous objec…
Robotic catching of flying objects typically generates high impact forces that might lead to task failure and potential hardware damages. This is accentuated when the object mass to robot payload rati…
Advancing dexterous manipulation with multi-fingered robotic hands requires rich sensory capabilities, while existing designs lack onboard thermal and torque sensing. In this work, we propose the MOTI…
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