Research
Research
Research
Research
38,789+ open-access research outputs.
The increasing penetration of intermittent renewable energy sources and the retirement of thermal units have widened the power system flexibility gap. Industrial demand response (DR) driven by real-ti…
We used the Webots robotics simulation platform to simulate a dyadic avoiding and mobbing predator behavior in a group of Braitenbergian robots. Mobbing is an antipredator adaptation used by some anim…
This thesis presents a solution that enables aerial robots to reason about surrounding wind flow fields in real time using on board sensors and embedded flight hardware. The core novelty of this resea…
Willems' Fundamental Lemma enables parameterizing all trajectories generated by a Linear Time-Invariant (LTI) system directly from data. However, this lemma relies on the assumption of noiseless measu…
This paper studies safety-critical control for nonlinear systems under sampled-data implementations of the controller. The recently proposed Taylor--Lagrange Control (TLC) method provides rigorous saf…
Autonomous motion planning under unknown nonlinear dynamics requires learning system properties while navigating toward a target. In this work, we develop a hierarchical planning-control framework tha…
Establishing a precise connection between imaged intensity and the incident wavefront is essential for emerging applications in adaptive optics, holography, computational microscopy, and non-line-of-s…
Offline reinforcement learning (RL) is an attractive tool for unmanned aerial vehicle (UAV) systems, where online exploration is costly and raises safety concerns. In terrain-aware UAV relaying, agent…
Outpatient departments (OPDs) in Indian public hospitals face severe overcrowding, with daily volumes reaching 200--8,000 patients~\cite{aiims2020annual}. The prevailing First-Come-First-Served (FCFS)…
Developing robust autonomous loco-manipulation skills for humanoids remains an open problem in robotics. While RL has been applied successfully to legged locomotion, applying it to complex, interactio…
Densely deployed base stations are responsible for the majority of the energy consumed in Radio access network (RAN). While these deployments are crucial to deliver the required data rate in busy hour…
This paper extends the Acemoglu-Restrepo task exposure framework to address the labor market effects of agentic artificial intelligence systems: autonomous AI agents capable of completing entire occup…
Efficient numerical models are required for the design of systems with high temperature superconductor (HTS) coils, as fully resolved finite element simulations of individual coated conductors become …
Data-driven safety verification of robotic systems often relies on zonotopic reachability analysis due to its scalability and computational efficiency. However, for nonlinear systems, these methods ca…
This paper introduces a new hybrid framework that combines Reinforcement Learning (RL) and Large Language Models (LLMs) to improve robotic manipulation tasks. By utilizing RL for accurate low-level co…
With the increasing penetration of inverter-based resources (IBRs) in power grids, system-level coordinated optimization of IBR controllers has become increasingly important for maintaining overall sy…
The system identification capabilities of a novel information-theoretic method are examined here. Specifically, this work uses information-theoretic metrics and vibration-based measurements to enhance…
In the reinforcement learning literature, strong theoretical guarantees have been obtained for algorithms applicable to LTI systems. However, in the nonlinear case only weaker results have been obtain…
This paper studies an unmanned aerial vehicle (UAV) position and attitude sensing problem, where a base station equipped with an antenna array transmits signals to a predetermined potential flight reg…
Ensuring safe behavior is critical for modern autonomous cyber-physical systems. Control barrier functions (CBFs) are widely used to enforce safety in autonomous systems, yet their placement within ne…
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