Research
Research
Research
Research
43+ open-access research outputs.
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 …
Our understanding of the oceans remains limited by sparse and infrequent observations, primarily because current methods are constrained by the high cost and logistical effort of underwater monitoring…
This paper presents the design and implementation of a relative localization system for SnailBot, a modular self reconfigurable robot. The system integrates ArUco marker recognition, optical flow anal…
Current spinal pain management procedures, such as radiofrequency ablation (RFA) and epidural steroid injection (ESI), rely on fluoroscopy for needle placement which exposes patients and physicians to…
This article presents a fully autonomous aerial masonry construction framework using heterogeneous unmanned aerial vehicles (UAVs), supported by experimental validation. Two specialized UAVs were deve…
Wi-Fi-based positioning promises a scalable and privacy-preserving solution for location-based services in indoor environments such as malls, airports, and campuses. RSS-based methods are widely deplo…
Recent work reports gains in neural text-to-speech (TTS) with Group Relative Policy Optimization (GRPO). However, in the absence of a verifiable reward for \textit{prosody}, GRPO trained on transcript…
Indoor localization of autonomous mobile robots (AMRs) can be realized with fiducial markers. Such systems require only a simple, monocular camera as sensor and fiducial markers as passive, identifiab…
Autonomous stocking in retail environments, particularly supermarkets, presents challenges due to dynamic human interactions, constrained spaces, and diverse product geometries. This paper introduces …
Navigating in off-road environments for wheeled mobile robots is challenging due to dynamic and rugged terrain. Traditional physics-based stability metrics, such as Static Stability Margin (SSM) or Ze…
Accurate state estimation is essential for monitoring and controlling nonlinear chemical reactors, such as continuous stirred-tank reactors (CSTRs), where limited sensor coverage and process uncertain…
The Holographic Interference Surface (HIS) opens up a new prospect for building a more cost-effective wireless communication architecture by performing Radio Frequency (RF) domain signal processing. I…
This paper proposes an integrated equilibrium model to characterize the complex interactions between electrified logistics systems and electric power delivery systems. The model consists of two major …
Consistent localization of cooperative multi-robot systems during navigation presents substantial challenges. This paper proposes a fault-tolerant, multi-modal localization framework for multi-robot s…
In this paper, we first present a bias-eliminated weighted (Bias-Eli-W) perspective-n-point (PnP) estimator for stereo visual odometry (VO) with provable consistency. Specifically, leveraging statisti…
Inner speech recognition has gained enormous interest in recent years due to its applications in rehabilitation, developing assistive technology, and cognitive assessment. However, since language and …
Extreme weather events can cause widespread power outages and huge economic losses. Low-income customers are more vulnerable to power outages because they live in areas with poorly equipped distributi…
This paper presents an Improved Extended-state-observer based Line-of-Sight (IELOS) guidance law for path following of underactuated Autonomous Underwater helicopter (AUH) utilizing a nonlinear tracki…
In recent years, Paris, France, transformed its transportation infrastructure, marked by a notable reallocation of space away from cars to active modes of transportation. Key initiatives driving this …
In commercial autonomous service robots with several form factors, simultaneous localization and mapping (SLAM) is an essential technology for providing proper services such as cleaning and guidance. …
Free open-access publishing with Google Scholar indexing.
Submission Guide →