Research
Research
Research
Research
122,609+ open-access research outputs.
Unknown payloads can strongly affect compliant robotic manipulation, especially when the payload center of mass is not aligned with the tool center point. In this case, the payload generates an offset…
We present a physics-driven framework for accurate evaluation of discrete spectral bands using a low-cost multispectral setup built from off-the-shelf RGB cameras and narrow multi-band optical filters…
We propose a robust nonlinear model predictive control (MPC) scheme for trajectory-tracking control of autonomous vehicles at the limits of handling on non-planar road surfaces. We derive the dynamics…
In recent years, computational power and data availability breakthroughs have revolutionized our ability to analyze complex physical systems through the inverse problem approach. Data-driven technique…
Many mechanical systems exhibit changes in their kinematic topology altering the mobility. Ideal contact is the best known cause, but also stiction and controlled locking of parts of a mechanism lead …
Traditional policy learning methods in cooperative pursuit face fundamental challenges in biomimetic underwater robots, where long-horizon decision making, partial observability, and inter-robot coord…
Reconfigurable intelligent surfaces (RISs) have recently attracted interest for non-terrestrial networks (NTNs), especially for improving satellite communication performance. However, RIS-assisted urb…
Achieving truly fluid interaction with robots with speech interfaces remains a hard problem, and the experience of current Human-Robot Interaction (HRI) remains laboured and frustrating. Some of the b…
We develop a wildfire simulation model that evolves the temperature scalar field using an energy balance equation accounting for heat generation, transport, and loss. For these equations, we develop q…
Robotic parkour provides a compelling benchmark for advancing locomotion over highly challenging terrain, including large discontinuities such as elevated steps. Recent approaches have demonstrated im…
This study investigates subarray-level movable antenna (MA) architecture for multi-user MIMO (MU-MIMO) systems. Unlike conventional systems with fixed-position antennas (FPAs), the proposed scheme har…
Recent advances in Text-To-Speech (TTS) synthesis have seen the popularity of multi-stage approaches that first predict semantic tokens and then generate acoustic tokens. In this paper, we extend the …
Matrix-multiply-accumulate (MMA) units, or tensor cores, are now widespread across modern computing architectures. Yet, their use for particle-grid operators remains limited. In implicit particle meth…
Modern UAV architectures increasingly aim to unify high-level autonomy and low-level flight control on a single General-Purpose Operating System (GPOS). However, complex multi-core System-on-Chips (So…
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…
As groups of robots increasingly collaborate with humans, understanding how humans perceive them is critical for designing effective human-robot teams. While prior research examined how humans interpr…
Goal-conditioned navigation models for ground robots trained using supervised learning show promising zero-shot transfer, but their collision-avoidance capability nevertheless degrades under distribut…
This paper presents a robust path following control method for vehicles that explicitly considers steering resistance dynamics to improve tracking accuracy. Conventional methods typically treat the st…
Wrist exoskeletons play a vital role in rehabilitation and assistive applications, yet conventional actuation mechanisms such as electric motors or pneumatics often introduce undesirable weight, frict…
We study the deep image prior (DIP) framework applied to photoacoustic tomography (PAT) as an unsupervised reconstruction approach to mitigate limited-view artifacts and noise commonly encountered in …
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