Research
Research
Research
Research
7,833+ open-access research outputs.
We propose a geometric control framework on $SE(3)$ for quadrotors that enforces pointing-driven missions without completing a full attitude reference. The mission is encoded through virtual constrain…
Hypercomplex signal processing (HSP) offers powerful tools for analyzing and processing multidimensional signals by explicitly exploiting inter-dimensional correlations through Clifford algebra. In re…
Aerial manipulators extend the reach and manipulation capabilities of uncrewed multirotor aerial vehicles for inspection, agriculture, sampling, and delivery. Continuum arm aerial manipulation systems…
We propose a signal temporal logic (STL)-based framework that rigorously verifies the feasibility of a mission described in STL and synthesizes control to safely execute it. The proposed framework ens…
The next industrial revolution, Industry 5.0, will be driven by advanced technologies that foster human-machine collaboration (HMC). It will leverage human creativity, judgment, and dexterity with the…
Robotic systems can enhance the amount and repeatability of physically guided motor training. Yet their real-world adoption is limited, partly due to non-intuitive trainer/therapist-trainee/patient in…
A recurring theme in optimal controller design for wireless networked control systems (WNCS) is the reliance on real-time channel state information (CSI). However, acquiring accurate CSI a priori is n…
A common approach to compute distances on continuous surfaces is by considering a discretized polygonal mesh approximating the surface and estimating distances on the polygon. We show that exact geode…
In recent engineering applications using deep learning, physics-informed neural network (PINN) is a new development as it can exploit the underlying physics of engineering systems. The novelty of PINN…
As satellites have proliferated, interest has increased in autonomous rendezvous, proximity operations, and docking (ARPOD). A fundamental challenge in these tasks is the uncertainties when operating …
The signal-to-interference-plus-noise ratio (SINR) is central to performance optimization in user-centric beamforming for satellite-based non-terrestrial networks (NTNs). Its assessment either require…
This survey discusses recent advancements in SYCL compiler implementations, one of the crucial aspects of compiler construction for heterogeneous computing systems. We explore the transition from trad…
Legged robots face significant challenges in navigating complex environments, as they require precise real-time decisions for foothold selection and contact planning. While existing research has explo…
Continuous signal representations are naturally suited for inverse problems, such as magnetic resonance imaging (MRI) and computed tomography, because the measurements depend on an underlying physical…
Learning agile humanoid behaviors from human motion offers a powerful route to natural, coordinated control, but existing approaches face a persistent trade-off: reference-tracking policies are often …
Hybrid Unmanned Aerial Underwater Vehicles (HUAUVs) have emerged as platforms capable of operating in both aerial and underwater environments, enabling applications such as inspection, mapping, search…
In this paper, we show how informativity and identifiability for networks of dynamical systems can be investigated using Gr\"obner bases. We provide a sufficient condition for informativity in terms o…
The Low-Altitude Economy (LAE) is rapidly emerging as a new technological and industrial frontier, with unmanned aerial vehicles (UAVs), electric vertical takeoff and landing (eVTOL) aircraft, and aer…
Living organisms rely on endogenous feedback mechanisms to maintain homeostasis in the presence of uncertainty and environmental fluctuations. An emerging challenge at the interface of control systems…
Uncrewed Aerial Vehicles (UAVs) are widely deployed across diverse applications due to their mobility and agility. Recent advances in Large Language Models (LLMs) offer a transformative opportunity to…
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