Research
Research
Research
Research
38,789+ open-access research outputs.
For hybrid systems exhibiting periodic behavior, analyzing the invariant set containing the limit cycle is a natural way to study the robustness of the closed-loop system. However, computing these set…
Poincare return maps are a fundamental tool for analyzing periodic orbits in hybrid dynamical systems, including legged locomotion, power electronics, and other cyber-physical systems with switching b…
Learning visuomotor policies for Autonomous Aerial Vehicles (AAVs) relying solely on monocular vision is an attractive yet highly challenging paradigm. Existing end-to-end learning approaches directly…
Building generalist embodied agents requires integrating perception, language understanding, and action, which are core capabilities addressed by Vision-Language-Action (VLA) approaches based on multi…
In this work, we propose an adaptive robust loss function framework for MHE, integrating an adaptive robust loss function to reduce the impact of outliers with a regularization term that avoids naive …
Autonomous navigation often requires the simultaneous optimization of multiple objectives. The most common approach scalarizes these into a single cost function using a weighted sum, but this method i…
This paper addresses the conservatism in data-driven reachability analysis for discrete-time linear systems subject to bounded process noise, where the system matrices are unknown and only input--stat…
Digital twins are becoming an important tool for designing, developing, testing, and optimizing next-generation wireless communication systems. Over the past decade, system softwarization has become a…
We aim to make learned point cloud compression deployable for low-latency streaming on mobile systems. While learned point cloud compression has shown strong coding efficiency, practical deployment on…
In this paper, a simultaneously transmitting and reflecting reconfigurable intelligent surface (STAR-RIS)-aided downlink non-orthogonal multiple access (NOMA) Terahertz (THz) wireless system is propos…
In this paper, we investigate high-altitude platform station (HAPS) wireless networks for simultaneous non-orthogonal unicast and multicast transmissions. Specifically, stacked intelligent metasurface…
This paper investigates the trajectory tracking problem of underactuated marine vessels within a polar coordinate framework. By introducing two polar coordinate transformations (PCTs), the original tw…
This paper presents a dual-hop hybrid framework that integrates a free-space optical (FSO)/RIS-aided radio frequency (RF) link operating under a hard-switching protocol as the first hop, and an optica…
Video generation models have advanced rapidly and are beginning to show a strong understanding of physical dynamics. In this paper, we investigate how far an advanced video generation model such as Ve…
This paper studies the problem of steering large-scale multi-agent stochastic linear systems between Gaussian distributions under probabilistic collision avoidance constraints. We introduce a family o…
Nonlinear underactuated systems such as two-wheeled inverted pendulums (TWIPs) exhibit a limited region of attraction (RoA), which defines the set of initial conditions from which the closed-loop syst…
Granular flows govern many natural and industrial processes, yet their interior kinematics and mechanics remain largely unobservable, as experiments access only boundaries or free surfaces. Convention…
The integration of cellular communication with Unmanned Aerial Vehicles (UAVs) extends the range of command and control and payload communications of autonomous UAV applications. Accurate modeling of …
Multi-robot systems (MRS) are essential for large-scale applications such as disaster response, material transport, and warehouse logistics, yet ensuring robust, safety-aware formation control in clut…
In co-manipulative continuum robots (CCRs), multiple continuum arms cooperate by grasping a common flexible object, forming a closed-chain deformable mechanical system. The closed-chain coupling induc…
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