Research
Research
Research
Research
288+ open-access research outputs.
Vine-inspired robots achieve large workspace coverage through tip eversion, enabling safe navigation in confined and cluttered environments. However, their deployment in free space is fundamentally li…
As reinforcement learning for humanoid robots evolves from single-task to multi-skill paradigms, efficiently expanding new skills while avoiding catastrophic forgetting has become a key challenge in e…
This paper proposes a two-stage optimization framework to evaluate whether cost-optimal electric vehicle (EV) charging infrastructure translates into effective operation under distribution grid constr…
In this paper, we investigate high-altitude platform station (HAPS) wireless networks for simultaneous non-orthogonal unicast and multicast transmissions. Specifically, stacked intelligent metasurface…
This work presents the application of the Complex Orthogonal Decomposition (C.O.D.) to a simple spatio-temporal signal. C.O.D. has been introduced rst in the article of B. Feeny, entitled "A Complex O…
Wearable fingertip haptic devices are critical for realistic interaction in virtual reality, augmented reality, and teleoperation, yet existing approaches struggle to simultaneously achieve adequate t…
The human heart is a sophisticated system composed of four cardiac chambers with distinct shapes, which function in a coordinated manner. Existing shape models of the heart mainly focus on the ventric…
Speaker anonymization (SA) systems modify timbre while leaving regional or non-native accents intact, which is problematic because accents can narrow the anonymity set. To address this issue, we prese…
What happens when a pretrained generative robot policy is provided a constant initial noise as input, rather than repeatedly sampling it from a Gaussian? We demonstrate that the performance of a pretr…
The Friedkin-Johnsen (FJ) model is a popular opinion dynamics model that explains the disagreement that can occur even among closely interacting individuals. Cluster consensus is a special type of dis…
Vehicle-to-Grid (V2G) adoption is hindered by uncertainties regarding its effects on battery lifetime and vehicle usability. These uncertainties are compounded by limited insight into real-world vehic…
In this paper, we address the problem of distributed state estimation for a discrete-time, linear time-invariant system. Building on the framework proposed in [2], we exploit the Jordan canonical form…
Soft pneumatic actuators enable safe human-machine interaction with lightweight and powerful applied parts. On the other side, they suffer design limitations as regards complex actuation patterns, inc…
Safety validation for Level 4 autonomous vehicles (AVs) is currently bottlenecked by the inability to scale the detection of rare, high-risk long-tail scenarios using traditional rule-based heuristics…
Voltage stability in modern power systems involves coupled dynamics across multiple time scales. Conventional methods based on time-scale separation or static stability margins may overlook instabilit…
The Teacher Assignment Problem is a combinatorial optimization problem that involves assigning teachers to courses while guaranteeing that all courses are covered, teachers do not teach too few or too…
The upper-mid band (7-24 GHz), designated as Frequency Range 3 (FR3), has emerged as a definitive ``golden band" for 6G networks, strategically balancing the wide coverage of sub-6 GHz with the high c…
The last mile of the distribution grid is crucial for a successful energy transition, as more low-carbon technology like photovoltaic systems, heat pumps, and electric vehicle chargers connect to the …
The exploration of unknown, Global Navigation Satellite System (GNSS) denied environments by an autonomous communication-aware and collaborative group of Unmanned Aerial Vehicles (UAVs) presents signi…
The rapid growth of Internet of Things (IoT) applications necessitates robust resource allocation in future sixth-generation (6G) networks, particularly at the upper mid-band (7-15 GHz, FR3). This pap…
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