Research
Research
Research
Research
38,789+ open-access research outputs.
This paper focuses on dynamic control allocation for a hexarotor UAV platform, considering a trajectory tracking task as as case study. It is assumed that the platform is dual-tilting, meaning that it…
Vision-Language-Action (VLA) models have emerged as a powerful paradigm for open-world robot manipulation, but their practical deployment is often constrained by cost: billion-scale VLM backbones and …
We develop a predictor-feedback cooperative adaptive cruise control (CACC) design relying on a multiple-predecessor-following (MPF) topology-based nominal delay-free CACC law. We consider vehicular pl…
We propose a method for the collective maneuvering of affine formations in the plane by modifying the original weights of the Laplacian matrix used to achieve static formations of robot swarms. Specif…
Considerable efforts have been made to address the resonance issue of the Direct-drive Permanent Magnet Synchronous Generator (D-PMSG) wind farm integrated power systems. However, the D-PMSG controlle…
We propose a multimodal deep learning model for VR auralization that generates spatial room impulse responses (SRIRs) in real time to reconstruct scene-specific auditory perception. Employing SRIRs as…
Tool-based scooping is vital in robot-assisted tasks, enabling interaction with objects of varying sizes, shapes, and material states. Recent studies have shown that flexible, reconfigurable soft robo…
Modular Aerial Robot Systems (MARS) comprise multiple drone units with reconfigurable connected formations, providing high adaptability to diverse mission scenarios, fault conditions, and payload capa…
The World Action Model (WAM) can jointly predict future world states and actions, exhibiting stronger physical manipulation capabilities compared with traditional models. Such powerful physical intera…
Multi-agent embodied systems hold promise for complex collaborative manipulation, yet face critical challenges in spatial coordination, temporal reasoning, and shared workspace awareness. Inspired by …
Addressing the critical need for intelligent, context-aware energy management in renewable systems, we introduce the OpenCEM Simulator and Dataset: the first open-source digital twin explicitly design…
Large Language Models (LLMs) are increasingly used to convert task commands into robot-executable code, however this pipeline lacks validation gates to detect unsafe and defective commands before they…
The integration of AI data centers into power grid represents one of the most emerging and complex challenges for the energy systems. As computational demand scales at an unprecedented rate, the tradi…
Current transformer (CT) saturation is one of the dominant causes of relay protection devices' malfunctions, which pose a threat to the safe operation of the power system. To address this problem, we …
Navigating autonomous underwater vehicles (AUVs) in unknown environments is significantly challenging due to poor visibility, weak signal transmission, and dynamic water currents. These factors pose c…
In this paper, we propose applying semantic embedding to learn the range of behaviors exhibited by molecular swarms, thereby providing a richer set of features to optimize such systems. Specifically, …
In the last ten years, medical robotics has moved from the margins to the mainstream. Since the Engineering Research Center for Computer-Integrated Surgical Systems and Technology was Launched in 1998…
We consider a verification problem for opinion dynamics based on binary observations. The opinion dynamics is governed by a Friedkin-Johnsen (FJ) model, where only a sequence of binary outputs is avai…
In Landmark-Inertial Simultaneous Localisation and Mapping (LI-SLAM), the positions of landmarks in the environment and the robot's pose relative to these landmarks are estimated using landmark positi…
Steerable needles have the potential to improve interstitial brachytherapy by enabling curved trajectories that avoid sensitive anatomical structures. However, existing modeling and control approaches…
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