Research
Research
Research
Research
38,789+ open-access research outputs.
Wireless localization of permanent magnets enables occlusion-free guidance for medical interventions, yet its practical accuracy is fundamentally limited by two coupled challenges: the poor observabil…
We present a novel framework for line-of-sight (LoS) delay-Doppler (DD) estimation in dense scattering propagation environments. We present two time-frequency (TF) domain pilot sequences inspired by t…
Computed tomography (CT)-based attenuation and scatter correction improves quantitative PET but adds radiation exposure that is particularly undesirable in pediatric imaging. Existing CT-free methods …
Household environments present one of the most common, impactful yet challenging application domains for robotics. Within household scenarios, manipulating deformable objects is particularly difficult…
This paper presents a novel control strategy for multi-agent shepherding of non-cohesive targets in obstacle-rich environments. Unlike previous approaches that assume cohesive flocking behavior, our m…
This paper addresses decentralized control of large-scale heterogeneous multi-agent systems subject to bounded external disturbances and limited communication, with the objective of satisfying coopera…
Reconfigurable antenna systems (RASs), such as fluid antennas and movable antennas, are poised to play a pivotal role in sixth-generation (6G) systems by dynamically adapting the antenna elements for …
AI is increasingly used to accelerate engineering design by improving decision-making and shortening iteration cycles. Application to marine propeller design, however, remains challenging due to scarc…
Affine frequency division multiplexing (AFDM) has emerged as a promising integrated sensing and communication (ISAC) waveform due to its intrinsic chirp signalling nature. Nevertheless, practical AFDM…
Coordinating the motions of multiple autonomous vehicles (AVs) requires planning frameworks that ensure safety while making efficient use of space and time. This paper presents a new approach, termed …
An asymmetric two-link robot supported atop a flat platform by wheels that roll and pivot freely, but do not slip laterally, will develop forward momentum if the joint between the links is actuated in…
Many robotic tasks are unforgiving; a single mistake in a dynamic throw can lead to unacceptable delays or unrecoverable failure. To mitigate this, we present a novel approach that leverages learned s…
Long-horizon manipulation remains challenging for vision-language-action (VLA) policies: real tasks are multi-step, progress-dependent, and brittle to compounding execution errors. We present LoHo-Man…
Recently, end-to-end robotic manipulation models have gained significant attention for their generalizability and scalability. However, they often suffer from limited robustness to camera viewpoint ch…
Maintaining instantaneous balance between electricity supply and demand is critical for reliability and grid instability. System operators achieve this through solving the task of Unit Commitment (UC)…
Pumping fluids is fundamental to a wide range of industrial, environmental, and biomedical applications. Among various pumping mechanisms, peristaltic pumps enable efficient and safe fluid transport b…
Computed Tomography (CT) is a widely used imaging modality in medical and industrial applications. To limit radiation exposure and measurement time, there is a growing interest in sparse-view CT, wher…
PRIMEX (prime-based graph encoding and extraction) is a recently proposed framework for scalable distributed fusion. In PRIMEX, the information pedigree of state estimates or probability density funct…
This paper addresses distributed state estimation for multi-agent systems with local and relative measurements, motivated by cooperative localization problems in which the global state dimension scale…
Neural representations (NRs), such as neural fields and 3D Gaussians, effectively model volumetric data in computed tomography (CT) but suffer from severe artifacts under sparse-view settings. To addr…
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