Research
Research
Research
Research
38,789+ open-access research outputs.
This paper presents Residual Koopman MPC (RK-MPC), a Koopman-based, data-driven model predictive control framework for quadruped locomotion that improves prediction fidelity while preserving real-time…
Accurate vehicular localization in Global Navigation Satellite System (GNSS)-denied environments, such as road tunnels, remains a key challenge for cooperative intelligent transport systems (C-ITS). T…
Wireless physical neural networks (WPNNs) have emerged as a promising paradigm for performing neural computation directly in the physical layer of wireless systems, offering low latency and high energ…
We present a learning-enhanced motion planner for differential drive mobile manipulators to improve efficiency, success rate, and optimality. For task representation encoder, we propose a keypoint seq…
Accurate modeling of magnetic hysteresis is essential for high-fidelity power electronics device simulations. The transient hysteresis phenomena such as the ringing effect and the minor loops are the …
This letter presents a framework for space-to-ground wireless energy transfer (WET) for wirelessly chargeable devices (WCD) located in remote areas or disaster situations. We consider a grid of multi-…
Hybrid physical systems combine continuous and discrete dynamics, which can be simultaneously affected by faults. Conventional fault detection methods often treat these dynamics separately, limiting t…
This letter addresses the constrained attitude control problem for rigid bodies directly on the special orthogonal group SO(3), avoiding singularities associated with parameterizations such as Euler a…
In high-mobility 6G scenarios, rapidly time-varying channels lead to very short coherence times, which makes conventional pilot-based channel state information (CSI) estimation approaches prone to out…
This paper establishes a unified element-based framework for formation control by introducing the concept of the deformation gradient from continuum mechanics. Unlike traditional methods that rely on …
This letter presents a constrained control framework that integrates Explicit Reference Governors (ERG) with Control Barrier Functions (CBF) to ensure recursive feasibility without online optimization…
This paper presents an integrated model-based framework for generating and executing dynamic whole-body dance motions on humanoid robots. The framework operates in two stages: offline motion generatio…
This paper develops a cooperative fault-tolerant control framework for heterogeneous networked linear systems subject to sensor degradation and external disturbances. Each unit employs an augmented $\…
This paper studies distributed trajectory tracking for networks of nonholonomic mobile robots under adversarial information exchange. An exact global input--output feedback linearization scheme is dev…
The integration of large language models (LLMs) into robotic control pipelines enables natural language interfaces that translate user prompts into executable commands. However, this digital-to-physic…
Many safety-critical control systems must operate under latent uncertainty that sensors cannot directly resolve at decision time. Such uncertainty, arising from unknown physical properties, exogenous …
Experimental access to real honeybee colonies requires robotic systems capable of operating within limited spatial constraints, tolerating hive-specific fouling and environmental conditions, and suppo…
In the initial deployment of large-scale distributed space systems using small satellites, achieving a reliable transition to passively stable orbits while maintaining inter-satellite distances within…
Precise control of lower limb exoskeletons during sit-to-stand (STS) transitions remains a central challenge in rehabilitation robotics owing to the highly nonlinear, time-varying dynamics of the huma…
We propose regularized approximate message passing (RAMP), a low-complexity algorithm for discrete signal detection in overloaded multiple-input multiple-output (MIMO) systems where the number of tran…
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