Research
Research
Research
Research
473+ open-access research outputs.
This paper presents an integrated lander-propulsion-GNC framework for autonomous lunar powered descent. The BUG VTVL test vehicle serves as the reference platform, with the YUNT V0 throttleable biprop…
Reliable geolocation of non-cooperative emitters in environments where Global Navigation Satellite Systems (GNSS) are unavailable or degraded is a key enabler for spectrum regulation, emergency respon…
The increasing penetration of distributed energy resources (DERs) is transforming distribution networks into actively managed systems, introducing challenges related to voltage regulation, thermal loa…
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…
Reliable positioning is essential for Uncrewed Aerial Vehicles (UAVs) in safety-critical urban operations, yet achieving sub-meter accuracy under stringent latency constraints remains challenging. Whi…
Image Goal Navigation (ImageNav) is evaluated by a coarse success criterion, the agent must stop within 1m of the target, which is sufficient for finding objects but falls short for downstream tasks s…
Modern methods of environmental monitoring are deficient in the lack of ability to take measurements of energy flows since traditional readings involve capturing parameters such as temperature, pressu…
Commercial lunar activity is accelerating the need for reliable surface infrastructure and routine operations to keep it functioning. Maintenance tasks such as inspection, cleaning, dust mitigation, a…
Increasing penetration of electric vehicles, heat pumps, and rooftop photovoltaics is creating thermal and voltage stress in low-voltage distribution grids. This work links three German energy transit…
Efficiently predicting motion plans directly from vision remains a fundamental challenge in robotics, where planning typically requires explicit goal specification and task-specific design. Recent vis…
Smart meters provide relevant information for impedance identification, but they lack global phase alignment and internal network nodes are often unobserved. A few methods for this setting were develo…
As power systems advance toward net-zero targets, behind-the-meter renewables are driving rapid growth in distributed energy resources (DERs). Virtual power plants (VPPs) increasingly coordinate these…
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…
Extreme legged parkour demands rapid terrain assessment and precise foot placement under highly dynamic conditions. While recent learning-based systems achieve impressive agility, they remain fundamen…
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…
Ultra-wideband (UWB) indoor localization provides centimeter-level accuracy and low latency, but its measurement reliability degrades severely under Non-Line-of-Sight (NLOS) conditions, leading to met…
Using floor vibrations to accurately predict occupants' footstep locations is essential for smart building operation and privacy-preserving indoor sensing. However, existing approaches are dominated b…
We present a passivity-agnostic framework for distributed adaptive synchronization under position-only communication, bounded disturbances, and unknown leader dynamics. By passivity-agnostic we mean t…
Soft robots enable safe, adaptive interaction with complex environments but remain difficult to sense and control due to their highly deformable structures. Architected soft materials such as helicoid…
Small, low-size, weight, power, and cost (SWaP-C) uncrewed aerial vehicles (UAVs) are increasingly used for intelligence, surveillance, and reconnaissance (ISR) missions due to their affordability, at…
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