Research
Research
Research
Research
2,287+ open-access research outputs.
Deploying a neuro-symbolic task planner on a new domain today requires significant manual effort: a domain expert must author relaxation and complementary rules, and hundreds of training problems must…
The shift to the radiative near field region due to large antenna arrays necessitates beamforming that accounts for both angle and range, evolving mobility management into a joint angular range tracki…
Directional Selective Fixed-Filter Active Noise Control (D-SFANC) can effectively attenuate noise from different directions by selecting the suitable pre-trained control filter based on the Direction-…
Indoor positioning is an essential technology for a wide range of applications in GNSS-denied environments, including indoor navigation and IoT systems. Combining convolutional neural networks (CNNs) …
Accurate forecasting of electric load and renewable generation is essential for reliable and cost effective power system operations. Recent advances in transformer based and foundation machine learnin…
Integrated sensing and communication (ISAC) is poised to be a defining feature of 6G networks, promising to transform cellular base stations (BSs) into ubiquitous radar sensors. However, a significant…
Speaker diarization (SD) is the task of answering "who spoke when" in a multi-speaker audio stream. Classically, an SD system clusters segments of speech belonging to an individual speaker's identity.…
Electric power systems are rapidly evolving into deeply digital, cyber-physical infrastructures in which large fleets of distributed energy resources must be coordinated as system-level flexibility ac…
Deploying a humanoid robot to manipulate a new object has traditionally required one to two days of effort: data collection, manual annotation, 3D model acquisition, and model training. This paper pre…
In this study, we propose a new sheepdog-inspired control method for a swarm of small unmanned aerial vehicles (UAVs), which predicts the swarm behavior while explicitly accounting for the motion cons…
Given a demonstration, a robot should be able to generalize a skill to any object it encounters-but existing approaches to skill transfer often fail to adapt to objects with unfamiliar shapes. Motivat…
Visual-inertial odometry (VIO) is widely used for mobile robot localization, but its long-term accuracy degrades without global constraints. Incorporating ranging sensors such as ultra-wideband (UWB) …
We present UNRIO, an uncertainty-aware radar-inertial odometry system that estimates ego-velocity directly from raw mmWave radar IQ signals rather than processed point clouds. Existing radar-inertial …
Radar is more resilient to adverse weather and lighting conditions than visual and Lidar simultaneous localization and mapping (SLAM). However, most radar SLAM pipelines still rely heavily on frame-to…
This paper addresses the problem of fixed-time cooperative output regulation for linear multi-agent systems over directed graphs under denial-of-service attacks. A novel distributed resilient fixed-ti…
We study dynamic multi-robot task allocation under uncertain task completion, time-window constraints, and incomplete information. Tasks arrive online over a finite horizon and must be completed withi…
The analysis of multi-dimensional graph signals on complex structured domains remains a fundamental challenge,…
Robotic fleets can be extremely efficient when working concurrently and collaboratively, e.g., for delivery, surveillance, search and rescue. However, it can be demanding or even impractical for an op…
Rain attenuates Ku-band satellite signals by up to 20~dB, encoding precipitation information along the Earth-space slant path. This paper derives the Bayesian Cram\'{e}r-Rao bound (BCRB) for rain rate…
Elastomers are central to vision-based tactile sensors (VBTSs), where they transduce external contact into observable deformation. Different VBTS architectures, however, require distinct optical and m…
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