Research
Research
Research
Research
38,789+ open-access research outputs.
Optimal stabilization of safety-critical nonlinear systems requires balancing long-term performance and strict safety constraints. Existing quadratic-programming-based control barrier function (CBF) s…
This paper investigates multi-stream downlink precoding for massive multiple-input multiple-output low-Earthorbit satellite (SAT) communication systems. We adopt a delay and Doppler precompensation ap…
This study proposes a reinforcement learning-based adaptive running motion simulation for a unilateral transtibial amputee with the flexibility of a leaf-spring-type sports prosthesis using hybrid-lin…
In this paper we propose a new criterion for the Blind Source Separation (BSS) of antisparse bounded sources, based on the sum of the $\ell_\infty$-norm of the sources. Based on the observation that t…
Integrated Sensing and Communications (ISAC) enables trajectory sharing that enhances beamforming, resource allocation, and cooperative perception, yet raises fundamental privacy concerns under the Ge…
Reliable positioning is essential for Uncrewed Aerial Vehicles (UAVs) in safety-critical urban operations, yet achieving sub-meter accuracy under stringent latency constraints remains challenging. Whi…
As electric vehicles (EVs) are increasingly adopted as platforms for connected and automated vehicles (CAVs), enhancing their energy efficiency becomes critical. With the emergence of vehicle-to-vehic…
Developing autonomous physical human-robot interaction (pHRI) systems is limited by the scarcity of large-scale training data to learn robust robot behaviors for real-world applications. In this paper…
Robotic manipulation with deformable objects represents a data-intensive regime in embodied learning, where shape, contact, and topology co-evolve in ways that far exceed the variability of rigids. Al…
This paper presents a sim-to-real approach that enables legged robots to dynamically manipulate large and heavy objects with whole-body dexterity. Our key insight is that by performing test-time steer…
The potential of Animal-Robot Interaction (ARI) in welfare applications depends on how much an animal perceives a robotic agent as socially relevant, non-threatening and potentially attractive (accept…
Speech LLM post-training increasingly relies on efficient cross-modal alignment and robust low-resource adaptation, yet collecting large-scale audio-text pairs remains costly. Text-only alignment meth…
This paper investigates the state estimation problem for linear systems subject to Gaussian noise, where the model parameters are unknown. By formulating and solving an optimization problem that incor…
Estimating generation costs from observed electricity market data is essential for market simulation, strategic bidding, and system planning. To that end, we model the relationship between generation …
In current MIMO mobile communication systems, phase noise can significantly impair performance. To allow for compensation of these impairments, accurate phase noise modeling is necessary. Numerical mo…
This paper studies joint range-angle estimation and communication in the NF ISAC systems, where the BS serves a single UE whose position is simultaneously estimated via monostatic sensing. Unlike the …
Unmanned Aerial Vehicles (UAVs) have emerged as a key enabler technology for data collection from Internet of Things (IoT) devices. However, effective data collection is challenged by resource constra…
Autonomous indoor flight for critical asset inspection presents fundamental challenges in perception, planning, control, and learning. Despite rapid progress, there is still a lack of a compact, activ…
Multi-Agent Path Finding (MAPF) is a fundamental coordination problem in large-scale robotic and cyber-physical systems, where multiple agents must compute conflict-free trajectories with limited comp…
As the demand for mobile robots continues to increase, social navigation has emerged as a critical task, driving active research into deep reinforcement learning (RL) approaches. However, because pede…
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