Research
Research
Research
Research
44+ open-access research outputs.
Particle Swarm Optimization (PSO) is susceptible to premature convergence when the swarm collapses around the global best, particularly on multimodal landscapes in higher dimensions. We propose Diverg…
Accurate risk assessment is essential for safety-critical autonomous and control systems under uncertainty. In many real-world settings, stochastic dynamics exhibit asymmetric jumps and long-range mem…
The transition to electric vehicles (EVs) depends heavily on the reliability of charging infrastructure, yet approximately 1 in 5 drivers report being unable to charge during station visits due to ino…
Accurate visual inertial simultaneous localization and mapping (VI SLAM) for underwater robots remains a significant challenge due to frequent visual degeneracy and insufficient inertial measurement u…
Autonomous navigation for legged robots in complex and dynamic environments relies on robust simultaneous localization and mapping (SLAM) systems to accurately map surroundings and localize the robot,…
We introduce LeVR, a modular software framework designed to bridge two critical gaps in robotic imitation learning. First, it provides robust and intuitive virtual reality (VR) teleoperation for data …
Imitation Learning (IL) is a widely adopted approach which enables agents to learn from human expert demonstrations by framing the task as a supervised learning problem. However, IL often suffers from…
Metaheuristic algorithms have gained widespread application across various fields owing to their ability to generate diverse solutions. One such algorithm is the Snake Optimizer (SO), a progressive op…
Remote sensing change detection is vital for monitoring environmental and urban transformations but faces challenges like manual feature extraction and sensitivity to noise. Traditional methods and ea…
This work presents a vision-based underwater exploration and inspection autonomy solution integrated into Ariel, a custom vision-driven underwater robot. Ariel carries a $5$ camera and IMU based sensi…
Multiple instance learning (MIL) is a promising approach for weakly supervised classification in pathology using whole slide images (WSIs). However, conventional MIL methods such as Attention-Based De…
The autonomous transportation of materials over challenging terrain is a challenge with major economic implications and remains unsolved. This paper introduces LEVA, a high-payload, high-mobility robo…
Despite the success of the O-RAN Alliance in developing a set of interoperable interfaces, development of unique Radio Access Network (RAN) deployments remains challenging. This is especially true for…
We use the theory of Bernstein functions, completely monotonic functions, and Levy processes to define a positive random process $\tau(t)$. For radar clutter one may think of $\tau(t)$ as the instanta…
3D Gaussian Splatting (3DGS) has shown its ability in rapid rendering and high-fidelity mapping. In this paper, we introduce LVI-GS, a tightly-coupled LiDAR-Visual-Inertial mapping framework with 3DGS…
In this work, we provide a global condition for contraction with respect to an invariant Riemannian metric on reductive homogeneous spaces. Using left-invariant frames, vector fields on the manifold a…
The advancement of industrialization has spurred the development of innovative swarm intelligence algorithms, with Lion Swarm Optimization (LSO) notable for its robustness, parallelism, simplicity, an…
Automated region of interest detection in histopathological image analysis is a challenging and important topic with tremendous potential impact on clinical practice. The deep-learning methods used in…
To solve the Unmanned Aerial Vehicle (UAV) path planning problem, a meta-heuristic optimization algorithm called competitive game optimizer (CGO) is proposed. In the CGO model, three phases of explora…
Artificial currencies have grown in popularity in many real-world resource allocation settings, gaining traction in government benefits programs like food assistance and transit benefits programs. How…
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