Research
Research
Research
Research
2,218+ open-access research outputs.
The use of high-frequency bands, combined with antenna arrays containing an extremely large number of elements (XL-MIMO), is pushing current technology to its limits in terms of hardware complexity, l…
This paper examines the IDM microscopic car-following model from a dynamical systems perspective, analyzing the effects of delay on congestion formation. Further, a case of mixed-autonomy is considere…
Periodic operation often emerges as the economically optimal mode in industrial processes, particularly under varying economic or environmental conditions. This paper proposes a robust model predictiv…
Motion planning schemes are used for planning motions of a manipulator from an initial pose to a final pose during a task execution. A motion planning scheme generally comprises of a trajectory planni…
Many recent data-driven control approaches for linear time-invariant systems are based on finite-horizon prediction of output trajectories using input-output data matrices. When applied recursively, t…
This paper presents a critical and practical approach to the evolution of distribution network reconfiguration algorithms, tracing their development from foundational heuristic methods introduced in 1…
Based on the provided LaTeX code, here is the metadata for the submission form: Title: TokCom-UEP: Semantic Importance-Matched Unequal Error Protection for Resilient Image Transmission Author(s): Kaiz…
Virtual fixtures (VFs) improve precision in teleoperation but often ``fight'' the user, inflating mental workload and eroding the sense of agency. We propose Soft-Nash Virtual Fixtures, a game-theoret…
Conventional subtractive manufacturing inevitably involves material loss during geometric realization, while additive manufacturing still suffers from limitations in surface quality, process continuit…
Positive invariant (PI) sets are essential for ensuring safety, i.e. constraint adherence, of dynamical systems. With the increasing availability of sampled data from complex (and often unmodeled) sys…
This paper addresses the critical challenge of developing data-driven certificates for the stability and safety of unmodeled dynamical systems by leveraging a tree data structure and an upper bound of…
The paper presents a systematic approach for stiffness modeling of manipulators with complex and hybrid structures using matrix structural analysis. In contrast to previous results, it is suitable for…
Numerous diffusion model (DM)-based methods have been proposed for solving inverse imaging problems. Among these, a recent line of work has demonstrated strong performance by formulating sampling as a…
Autonomous robotic systems heavily rely on environment knowledge to safely navigate. For search & rescue, a flying robot requires robust real-time perception, enabled by complementary sensors. IMU dat…
In this paper, we study a cellular-connected unmanned aerial vehicle (UAV) which aims to fly between two predetermined locations while maintaining ultra-reliable low-latency communications (URLLC) for…
Complex electromagnetic environments, often containing multiple jammers with different jamming patterns, produce non-uniform jamming power across the frequency spectrum. This spectral non-uniformity d…
The proliferation of SQL for data processing has often occurred without the rigor of traditional software development, leading to siloed efforts, logic replication, and increased risk. This ad-hoc app…
Many recent Vision-Language-Action models employ diffusion or flow-matching backbones with hundreds of millions of parameters for action generation. However, unlike image synthesis where the output sp…
As social robots increasingly enter public environments, their acceptance depends not only on technical reliability but also on ethical integrity, accessibility, and user trust. This paper reports on …
Dexterous functional tool-use grasping is essential for effective robotic manipulation of tools. However, existing approaches face significant challenges in efficiently constructing large-scale datase…
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