Research
Research
Research
Research
38,789+ open-access research outputs.
Robot navigation in crowded pedestrian environments is a well-known challenge and we explore the practical deployment of group-based representations in this setting. Pedestrian groups have been empiri…
The high computational cost of approaching the performance of Maximum-likelihood (ML) decoding has limited its practical use for decades. Because the complexity grows exponentially with the message le…
Beam training and prediction in real-world millimeter-wave (mmWave) communications systems are challenging due to rapidly time-varying channels and strong interference from surrounding objects. In thi…
Road traffic accidents are a leading cause of fatalities worldwide. In the US, human error causes 94% of crashes, resulting in excess of 7,000 pedestrian fatalities and $500 billion in costs annually.…
Vision-language-action (VLA) models have emerged as generalist robotic controllers capable of mapping visual observations and natural language instructions to continuous action sequences. However, VLA…
Manipulating open liquid containers is challenging because liquids are highly sensitive to vessel accelerations and jerks. Although spill-free liquid manipulation has been widely studied, emergency st…
Porous electrode theory (PET) provides essential insights into electrochemical states, but its computational complexity hinders real-time control and obscures scaling relations. To bridge the gap betw…
We examine market outcomes in energy transport networks with a focus on gas-fired generators, which are producers in a wholesale electricity market and consumers in the natural gas market. Market admi…
This article proposes a data-driven framework to verify the distributed conditions that guarantee the system-wide stability for interconnected power systems. To guarantee system wide stability, the dy…
Consumer LiDARs in mobile devices and robots typically output a single depth value per pixel. Yet internally, they record full time-resolved histograms containing direct and multi-bounce light returns…
Computational complexity has been a major challenge in game-theoretic model predictive control (GT-MPC), as real-time solutions to a game (e.g., Nash equilibria (NEs)) have to be computed at each samp…
Lung cancer remains one of the leading causes of cancer-related mortality worldwide. Conventional computed tomography (CT) imaging, while essential for detection and staging, has limitations in distin…
This paper proposes the LiFE-CD algorithm for convergence time analysis of the max-consensus algorithm in multi-agent systems under Bernoulli-distributed link failures. Unlike existing approaches, whi…
This paper studies the vehicle bicycle model under three classes of stealthy cyber-attacks: replay attacks, zero dynamics attacks, and covert attacks. Using a system-theoretic framework, we analyze th…
Ultra-massive multiple-input multiple-output (UM-MIMO) is a key technology for enabling terahertz (THz) communications in 6G networks, offering high beamforming gain to combat severe path loss. Howeve…
Data-based adaptive optimization methods hold great promise for the performance optimization of uncertain, time-varying processes. However, current methods are often based on continuous perturbation w…
How difficult can it be to implement a PID controller? The answer is twofold. Implementing the PID control law is simple and computationally inexpensive. However, this basic form will not work in prac…
Mobile molecular communication (MC) links with counting receivers are sensitive to transmitter--receiver geometry especially when nodes are mobile. We study binary detection from within-symbol count o…
In this paper, we consider resource allocation for a collaborative integrated sensing and communication (ISAC) scenario, in which distributed smart devices can be scheduled to perform sensing and tran…
Learning robust robot policies in real-world environments requires diverse data augmentation, yet scaling real-world data collection is costly due to the need for acquiring physical assets and reconfi…
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