Research
Research
Research
Research
38,789+ open-access research outputs.
This work presents a cascaded hybrid control framework for quadrotor trajectory tracking under nonlinear dynamics and external disturbances. In quadrotor systems, the altitude and attitude channels ex…
Ensuring energy feasibility under wind uncertainty is critical for the safety and reliability of UAV delivery missions. In realistic truck-drone logistics systems, UAVs must deliver parcels and safely…
Many robotic exploration algorithms rely on graph structures for frontier-based exploration and dynamic path planning. However, these graphs grow rapidly, accumulating redundant information and impact…
Cross-facility knowledge transfer in Controlled Environment Agriculture (CEA) can reduce HVAC energy consumption by 30-38% and accelerate new facility commissioning from months to days. However, facil…
This paper addresses the problem of fixed-time cooperative output regulation for linear multi-agent systems over directed graphs under denial-of-service attacks. A novel distributed resilient fixed-ti…
Safety filters provide a practical approach for enforcing safety constraints in autonomous systems. While learning-based tools scale to high-dimensional systems, their performance depends on informati…
Safe navigation for multi-robot systems requires enforcing safety without sacrificing task efficiency under decentralized decision-making. Existing decentralized methods often assume robot homogeneity…
We consider the energy-optimal control problem for double-integrator systems subject to state and control constraints, with fixed terminal time and free terminal speed. When the constraints become act…
In this paper, we investigate safety-critical control problem of discrete-time stochastic systems with incomplete information, where safety constraints must be enforced using state estimates obtained …
Token-based semantic communication is promising for future wireless networks, as it can compact semantic tokens under very limited channel capacity. However, harsh wireless channels often cause missin…
Training and transferring learning-based policies for quadrotors from simulation to reality remains challenging due to inefficient visual rendering, physical modeling inaccuracies, unmodeled sensor di…
This work addresses the challenge of ignition timing and load control in homogeneous charge compression ignition engines operating subject to uncertainty from complex combustion dynamics and external …
As reinforcement learning for humanoid robots evolves from single-task to multi-skill paradigms, efficiently expanding new skills while avoiding catastrophic forgetting has become a key challenge in e…
At its core, robotic manipulation is a problem of vision-to-geometry mapping ($f(v) \rightarrow G$). Physical actions are fundamentally defined by geometric properties like 3D positions and spatial re…
Wireless communications in intelligent rail transit face harsh propagation conditions, including severe penetration loss, frequent blockages, and amplified large-scale fading. Existing leaky coaxial c…
Fast grasping is critical for mobile robots in logistics, manufacturing, and service applications. Existing methods face fundamental challenges in impact stabilization under high-speed motion, real-ti…
Digital waveguide physical modeling offers efficient simulation of acoustic wave propagation as compared to general finite-difference schemes commonly used in computational physics. This efficiency ha…
Collaborative transport requires robots to infer partner intent through physical interaction while maintaining stable loco-manipulation. This becomes particularly challenging in complex environments, …
Indoor fire disasters pose severe challenges to autonomous search and rescue due to dense smoke, high temperatures, and dynamically evolving indoor environments. In such time-critical scenarios, multi…
DC microgrids are converter-based electrical networks that are increasingly being used in various applications, including data centers and industrial distribution systems. A central challenge in their…
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