Research
Research
Research
Research
202+ open-access research outputs.
Automatic Emergency Braking (AEB) systems represent a safety-critical national interest, with the National Highway Traffic Safety Administration (NHTSA) Federal Motor Vehicle Safety Standard (FMVSS No…
Industrial robot applications require increasingly flexible systems that non-expert users can easily adapt for varying tasks and environments. However, different adaptations benefit from different int…
Language-guided unmanned aerial vehicles (UAVs) often fail not from bad reasoning or perception, but from execution mismatch: the gap between a planned trajectory and the controller's ability to tra…
The growing interest in space activities has led to the emergence of new space operators and innovative mission concepts. Small satellites such as CubeSats reduce mission costs and are typically deplo…
In a mosaic, a tessera is a single stone. We introduce tesserae for the co-simulation framework mosaik, where they are sets of entities. They allow for a visual, intuitive, and yet systematic descript…
Robots that traverse natural terrain must interpret contact forces generated under highly dynamic conditions. However, most terrain characterization approaches rely on quasi-static assumptions that ne…
Untethered magnetic millirobots offer significant potential for minimally invasive cardiac therapies; however, achieving reliable autonomous control in pulsatile cardiac flow remains challenging. This…
Movable antennas (MAs) enable the reconfiguration of array geometry within a bounded region to exploit sub-wavelength spatial degrees of freedom in wireless communication and sensing systems. However,…
Applying micro-patterns to surfaces has been shown to impart useful physical properties such as drag reduction and hydrophobicity. However, current manufacturing techniques cannot produce micro-patter…
Robot model identification is commonly performed by least-squares regression on inverse dynamics, but existing formulations measure residuals directly in coordinate force space and therefore depend on…
This work introduces the Drag-Aware Aerodynamic Manipulability (DAAM), a geometric framework for control allocation in redundant multirotors. By equipping the propeller spin-rate space with a Riemanni…
The growing integration of electric vehicle (EV) fleets into transportation services and energy systems requires accurate modeling of battery discharge and state-of-charge (SoC) evolution to ensure re…
Accurate prediction of battery state of charge is needed for autonomous robots to plan movements without using up all available power. This work develops a physics and data-informed model from a simul…
Winged blimps operate across distinct aerodynamic regimes that cannot be adequately captured by a single model. At high speeds and small angles of attack, their dynamics exhibit strong coupling betwee…
Accurate aerodynamic field prediction is crucial for vehicle drag evaluation, but the computational cost of high-fidelity CFD hinders its use in iterative design workflows. While learning-based method…
We present a robotics-oriented, coordinate-free formulation of inverse flight dynamics for fixed-wing aircraft on SO(3). Translational force balance is written in the world frame and rotational dynami…
The possibility to create reactive robot programs faster without the need for extensively trained programmers is becoming increasingly important. So far, it has not been explored how various technique…
The preliminary design of AUGs is intrinsically challenging due to the strong coupling between the external hydrodynamic shape, the hydrostatic balance, the structural integrity, and internal packagin…
Sample Exploring the ocean environment holds profound significance in areas such as resource exploration and ecological protection. Underwater robots struggle with extreme water pressure and often cau…
One of the main limitations of multirotor UAVs is their short flight time due to battery constraints. A practical solution for continuous operation is to power the drone from the ground via a tether. …
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