Research
Research
Research
Research
122,609+ open-access research outputs.
Approximate Message Passing (AMP) is a general framework for iterative algorithms, originally developed for compressed sensing and later extended to a wide range of high-dimensional inference problems…
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…
Landing UAVs on heaving marine platforms is challenging because relative vertical motion can generate large impact forces and cause rebound on touchdown. To address this, we develop an impact-aware Mo…
We study the Suscectible-Infected-Recovered-Susceptible (SIRS) epidemic model on deterministic networks. For connected but otherwise general interaction patterns and heterogeneous recovery and loss-of…
Robotic systems operating in human environments must reason about how object interactions evolve over time, which actions are currently being performed, and what manipulation step is likely to follow.…
The rapid growth of inverter-based resources (IBRs) and distributed energy resources (DERs) has fundamentally altered the long-term voltage stability characteristics of modern power systems. This arti…
The integration of Model Predictive Control (MPC) and Reinforcement Learning (RL) has emerged as a promising paradigm for constrained decision-making and adaptive control. MPC offers structured optimi…
The FR3 band has emerged as the major focus of 6G wireless research. FR3 cellular operation presents the challenge of extreme bandwidth combined with physically large antenna arrays. In this regime, c…
Autonomous medical robots hold promise to improve patient outcomes, reduce provider workload, democratize access to care, and enable superhuman precision. However, autonomous medical robotics has been…
Legged robots have demonstrated remarkable agility on rigid, stationary ground, but their locomotion reliability remains limited in non-inertial environments, where the supporting ground moves, tilts,…
This paper presents a unifying theory of Linear second order systems that allows time-varying and time invariant systems to be treated in the same way for the first time. In the process, a transformat…
Upper-limb exoskeletons (ULEs) have the potential to restore functional independence in individuals with severe motor impairments; however, the clinical relevance of wrist degrees of freedom (DoF), pa…
Recent advances in Vision-Language-Action (VLA) models have opened new avenues for robot manipulation, yet existing methods exhibit limited efficiency and a lack of high-level knowledge and spatial aw…
This paper presents a framework for mapping unknown scalar fields using a sensor-equipped autonomous robot operating in unsafe environments. The unsafe regions are defined as regions of high-intensity…
The large-scale integration of inverter-based resources (IBRs), particularly distributed photovoltaics (DPVs), into distribution networks increases the need for integrated transmission and distributio…
This paper presents a personalized Battery Electric Vehicle (BEV) energy consumption estimation framework that integrates map-based contextual features with driver-specific velocity prediction and phy…
Long-Horizon (LH) tasks in Human-Scene Interaction (HSI) are complex multi-step tasks that require continuous planning, sequential decision-making, and extended execution across domains to achieve the…
Accurate antenna array calibrations and measurements of aspects such as active element pattern (AEP) are critical for enabling integrated sensing and communication (ISAC) technologies such as directio…
Peg-in-hole (PiH) assembly is a fundamental yet challenging robotic manipulation task. While reinforcement learning (RL) has shown promise in tackling such tasks, it requires extensive exploration. In…
Evaluating the pinch capability of a robotic hand is important for understanding its functional dexterity. However, many existing grasp evaluation methods rely on object geometry or contact force mode…
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