Research
Research
Research
Research
75+ open-access research outputs.
By exploiting the observed tightness of dual rotated second-order cone (RSOC) constraints, this paper transforms the dual of a conic ACOPF relaxation into an equivalent, non-conic problem where dual c…
Current research on three-dimensional metamaterial has largely focused on conventional strut, plate, and shell-based lattice designs. Although these designs offer several advantages, they possess inhe…
Robust trajectory optimization enables autonomous systems to operate safely under uncertainty by computing control policies that satisfy the constraints for all bounded disturbances. However, these pr…
Control of nonlinear systems with high levels of uncertainty is practically relevant and theoretically challenging. This paper presents a numerical investigation of an adaptive nonlinear model predict…
Deploying learning-based controllers across heterogeneous robots is challenging due to platform differences, inconsistent interfaces, and inefficient middleware. To address these issues, we present Un…
Contact-rich manipulation requires reliable estimation of extrinsic contacts-the interactions between a grasped object and its environment which provide essential contextual information for planning, …
The success of machine learning for real-world robotic systems has created a new form of intellectual property: the trained policy. This raises a critical need for novel methods that verify ownership …
Accurate path loss (PL) modeling is essential for evaluating and optimizing cell-free massive MIMO systems, especially in dense urban environments where traditional models fail to capture the complexi…
State-of-the-art robotics simulators operate in discrete time. This requires users to choose a time step, which is both critical and challenging: large steps can produce non-physical artifacts, while …
Building generalist robot policies that can handle diverse tasks in open-ended environments is a central challenge in robotics. To leverage knowledge from large-scale pretraining, prior work (VLA) has…
This paper presents the classification of a general quadric into an axisymmetric quadric (AQ) and the solution to the problem of the proximity of a given point to an AQ. The problem of proximity in $R…
We present a unifying theoretical result that connects two foundational principles in robotics: the Signorini law for point contacts, which underpins many simulation methods for preventing object inte…
Conic programs arise broadly in physics, quantum information, machine learning, and engineering, many of which are defined over sparse graphs. Although such problems can be solved in polynomial time u…
Foundational models are trained on extensive datasets to capture the general trends of a domain. However, in medical imaging, the scarcity of data makes pre-training for every domain, modality, or tas…
Grid-connected inverter control is challenging to implement due to the difficulty of obtaining and maintaining an accurate grid model. Direct Data-Driven Predictive Control provides a model-free alter…
Student engagement is one of the key challenges in robotics and artificial intelligence (AI) education. Tangible learning approaches, such as educational robots, provide an effective way to enhance en…
Accurate RF propagation modeling in urban environments is critical for developing digital spectrum twins and optimizing wireless communication systems. We introduce OpenGERT, an open-source automated …
The Moving-Target Traveling Salesman Problem (MT-TSP) seeks a shortest path for an agent that starts at a stationary depot, visits a set of moving targets exactly once, each within one of their respec…
Osteochondrodysplasia, affecting 2-3% of newborns globally, is a group of bone and cartilage disorders that often result in head malformations, contributing to childhood morbidity and reduced quality …
Impedance-controlled robots are widely used on Earth to perform interaction-rich tasks and will be a key enabler for In-Space Servicing, Assembly and Manufacturing (ISAM) activities. This paper introd…
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