Research
Research
Research
Research
1,703+ open-access research outputs.
We present a unifying Nearly Asymptotically Invariant Manifold (NAIM) framework for understanding Nesterovs Accelerated Gradient (NAG) method. By lifting the first-order gradient flow into a second-or…
Generative motion prediction must satisfy three simultaneous requirements for real-world autonomy: high accuracy, diverse multimodal futures, and strictly bounded latency. Diffusion models meet the fi…
This paper addresses the problem of traffic congestion management in fixed-wing unmanned aerial vehicle (UAV) corridors by further developing a recently introduced loiter-lane framework. A semi-cooper…
In practical early-stage battery-electric vehicle studies, analysis workflows may become fragmented across spreadsheets, notebooks, and project-specific scripts, making reuse, audit, and extension har…
Deploying neural-network control barrier functions (CBFs) on embedded hardware requires evaluating the barrier value and its Lie derivatives along the system vector fields at every control cycle. The …
Radar-Inertial Odometry (RIO) based on the Extended Kalman Filter (EKF) relies on accurate extrinsic calibration between the radar and the Inertial Measurement Unit (IMU) and is sensitive to disturban…
Sub-gram flapping-wing flying insect robots (FIRs) are challenging to model because of mechanical complexity in their wings, unsteady aerodynamic flow, and the difficulty of making precise measurement…
Autonomous fixed-wing flight is becoming a key capability in aerial robotics, enabling sensing, mobility, and contingency operations across both small-scale Uncrewed Aircraft Systems and large-scale A…
We present principles of algebraic diversity (AD), a group-theoretic approach to signal processing exploiting signal symmetry to extract more information per observation, complementing classical metho…
In this letter, we propose a sparsification method for precoding codebooks that reduces the peak-to-average power ratio (PAPR) while preserving the achievable rate. By exploiting the fact that precode…
Aerobat is a bat-inspired flapping-wing robot with a wing gait generate by the computational structure, a planar linkage of carbon fiber links driven by a single motor. This design minimizes weight bu…
Kalman filter-based algorithms are fundamental for mobile robots, as they provide a computationally efficient solution to the challenging problem of state estimation. However, they rely on two main as…
Reliable odometry is essential for mobile robots as they increasingly enter more challenging environments, which often contain little information to constrain point cloud registration, resulting in de…
Maintaining stable internal representations of continuous variables is fundamental for effective robotic control. Continuous attractor networks provide a biologically inspired mechanism for encoding s…
In this paper we present a novel visual servoing framework to control a robotic manipulator in the configuration space by using purely natural visual features. Our goal is to develop methods that can …
Marine ecosystem degradation necessitates continuous, scientifically selective underwater monitoring. However, most autonomous underwater vehicles (AUVs) operate as passive data loggers, capturing exh…
Many problems in robotics require reasoning over a mix of continuous dynamics and discrete events, such as making and breaking contact in manipulation and locomotion. These problems are locally well m…
In Model Predictive Control (MPC), world models predict the future outcomes of various action proposals, which are then scored to guide the selection of the optimal action. For visuomotor MPC, the sco…
One of the concerns with autonomous vehicles is their ability to communicate their intent to other road users, specially pedestrians, in order to prevent accidents. External Human-Machine Interfaces (…
Accurate state estimation for robotic systems evolving on Lie group manifolds, such as legged robots, is a prerequisite for achieving agile control. However, this task is challenged by nonlinear obser…
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