Research
Research
Research
Research
110+ open-access research outputs.
This paper investigates the robust stability problem of a feedback system in the presence of uncertainties induced by graphical regions in the plane where the scaled relative graphs (SRGs) reside. Our…
There are two major categories of embodied navigation: Vision-Language Navigation (VLN), where agents navigate by following natural language instructions; and Object-Goal Navigation (OGN), where agent…
Temporal task structure is fundamental for bimanual manipulation: a robot must not only know that one action precedes or overlaps another, but also when each action should occur and how long it should…
Robot-aided exploration of planetary surfaces is essential for understanding geologic processes, yet many scientifically valuable regions, such as Martian dunes and lunar craters, remain hazardous due…
Ill-posed imaging inverse problems remain challenging due to the ambiguity in mapping degraded observations to clean images. Diffusion-based generative priors have recently shown promise, but typicall…
Audio-visual video highlight detection aims to automatically identify the most salient moments in videos by leveraging both visual and auditory cues. However, existing models often underutilize the au…
Recent advances in singing voice synthesis (SVS) have attracted substantial attention from both academia and industry. With the advent of large language models and novel generative paradigms, producin…
Most engineered pilings require substantially more force to be driven into the ground than they can resist during extraction. This requires relatively heavy equipment for insertion, which is problemat…
Missions such as the Ingenuity helicopter have shown the advantages of using novel locomotion modes to increase the scientific return of planetary exploration missions. Legged robots can further expan…
Autonomous aerial vehicles, such as NASA's Ingenuity, enable rapid planetary surface exploration beyond the reach of ground-based robots. Thus, NASA is studying a Mars Science Helicopter (MSH), an adv…
The development of decentralized stability conditions has gained considerable attention due to the need to analyze multi-agent network systems, such as heterogeneous multi-converter power systems. A r…
This paper presents a unified framework based on Davis-Wielandt (DW) shell for graphical stability analysis of multi-input and multi-output linear time-invariant feedback systems. Connections between …
Mars exploration missions increasingly demand reliable communication systems, yet harsh environmental conditions -- particularly frequent dust storms, extreme Doppler effects, and stringent resource c…
'The cardinal sin in control is to believe that the plant is given' Karl Astrom. Astrom, a towering figure of control theory and practice and awardee of the 1993 IEEE Medal of Honor for his work on ad…
Accurate classification of second-trimester fetal ultrasound images remains challenging due to low image quality, high intra-class variability, and significant class imbalance. In this work, we introd…
In robotic planetary surface exploration, strategic mobility planning is an important task that involves finding candidate long-distance routes on orbital maps and identifying segments with uncertain …
Cone-Beam Computed Tomography (CBCT) is essential in medical imaging, and the Feldkamp-Davis-Kress (FDK) algorithm is a popular choice for reconstruction due to its efficiency. However, FDK is suscept…
In the context of mobile navigation in unstructured environments, the predominant approach entails the avoidance of obstacles. The prevailing path planning algorithms are contingent upon deviating fro…
Multivariate Statistical Process Control (MSPC) is a framework for monitoring and diagnosing complex processes by analysing the relationships between multiple process variables simultaneously. Kernel …
Visual navigation, a fundamental challenge in mobile robotics, demands versatile policies to handle diverse environments. Classical methods leverage geometric solutions to minimize specific costs, off…
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