Research
Research
Research
Research
860+ open-access research outputs.
This paper considers the robust control of a catenary robot composed of two quadrotors connected by an inextensible cable. The system is modeled on \(SE(3)\), with the cable treated as a geometric sub…
Infrastructure-based localization enhances road safety and traffic management by providing state estimates of road users. Development is hindered by fragmented, application-specific stacks that tightl…
This paper presents an AI-enabled cascaded hybrid vision/force control framework for tendon-driven aerial continuum manipulators based on constant-strain modeling in $SE(3)$ as a coupled system. The p…
Structural reliability evaluation for composites constitutes a fundamentally high-dimensional multiscale problem, as microscale material uncertainties must propagate to the macroscale and can be quant…
In the context of robot learning for manipulation, curated datasets are an important resource for advancing the state of the art; however, available datasets typically only include successful executio…
This paper considers multi-agent embodied question answering (MA-EQA), which aims to query robot teams on what they have seen over a long horizon. In contrast to existing edge resource management meth…
Can we learn the physics of matter in motion directly from images and video--and trust it? Answering this question requires integrating experiments, physics-based simulation, and data across tradition…
Design, control, and estimation for dynamic systems require accurate and analytically tractable models. However, modern engineered systems contain components that are described with heterogeneous mode…
The increasing deployment of agentic artificial intelligence (AI) systems has intensified the demand for efficient agent to agent communication, particularly over bandwidth limited wireless links. In …
Wireless communications in intelligent rail transit face harsh propagation conditions, including severe penetration loss, frequent blockages, and amplified large-scale fading. Existing leaky coaxial c…
Brain organoid interfaces that seek neuromodulator readout benefit from chemical receivers with molecular specificity and tolerance to drift. This paper presents a receiver-centric theoretical study o…
Vision-language-action (VLA) models have advanced robot manipulation through large-scale pretraining, but real-world deployment remains challenging due to partial observability and delayed feedback. R…
Robotic systems lack a principled abstraction for organizing intelligence, capabilities, and execution in a unified manner. Existing approaches either couple skills within monolithic architectures or …
We consider event-triggered linear-quadratic Gaussian (LQG) control when sensor updates are transmitted over an i.i.d. packet-erasure channel. Although the optimal controller in a standard LQG setup i…
Radar-based non-contact respiration rate (RR) measurement has become increasingly popular due to its convenience, non-intrusiveness, and low cost. However, it is still quite challenging to accurately …
Underwater monocular SLAM is a challenging problem with applications from autonomous underwater vehicles to marine archaeology. However, existing underwater SLAM methods struggle to produce maps with …
Dense visual odometry (VO), which provides pose estimation and dense 3D reconstruction, serves as the cornerstone for applications ranging from robotics to augmented reality. Recently, feed-forward mo…
Guiding collective motion in biological groups is a fundamental challenge in understanding social interaction rules and developing automated systems for animal management. In this study, we propose a …
While generative models have become effective at producing human-like motions from text, transferring these motions to humanoid robots for physical execution remains challenging. Existing pipelines ar…
Parallel-wound no-insulation (PW-NI) high-temperature superconducting (HTS) coils significantly reduce charging delay while maintaining excellent self-protection capability, demonstrating great potent…
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