Research
Research
Research
Research
818+ open-access research outputs.
This paper presents a hierarchical decision-making framework for unmanned aerial vehicle (UAV) missions motivated by search-and-rescue (SAR) scenarios under limited simulation training. The framework …
OpenPodcar2 is a robust, ROS2-interfaced, low-cost, open source hardware and software, autonomous vehicle platform based on an off-the-shelf, hard-canopy, mobility scooter donor vehicle. It is a modif…
Neural networks can be trained to learn task-relevant representations from data. Understanding how these networks make decisions falls within the Explainable AI (XAI) domain. This paper proposes to st…
Safe and explainable motion planning remains a central challenge in autonomous driving. While rule-based planners offer predictable and explainable behavior, they often fail to grasp the complexity an…
New recursive estimators for computing higher-order derivatives of mean queueing time from a single sample path of a first-come, first-served single-server queue are presented, derived using the well-…
As zero-emission zones emerge in European cities, fleet operators are shifting to electric vehicles. To maintain their current operations, a clear understanding of the charging infrastructure required…
We present LAD, a real-time language--action planner with an interruptible architecture that produces a motion plan in a single forward pass (~20 Hz) or generates textual reasoning alongside a motion …
Accurate MRI-to-CT synthesis could enable MR-only pelvic workflows by providing CT-like images with bone details while avoiding additional ionizing radiation. In this work, we investigate recently pro…
Sidewalk micromobility is a promising solution for last-mile transportation, but current learning-based control methods struggle in complex urban environments. Imitation learning (IL) learns policies …
Real-world potential of stop-and-go wave smoothing at scale remains largely unquantified. Smoothing freeway traffic waves requires creating a gap so the wave can dissipate, but the gap suggested is of…
Electrohysterography (EHG) enables non-invasive monitoring of uterine contractions but can be contaminated by electrocardiogram (ECG) artifacts. This work presents an ECG removal method using algebrai…
Autonomous driving is undergoing a shift from modular rule based pipelines toward end to end (E2E) learning systems. This paper examines this transition by tracing the evolution from classical sense p…
Autonomous bicycles offer a promising agile solution for urban mobility and last-mile logistics, however, conventional control strategies often struggle with their underactuated nonlinear dynamics, su…
We present a Temporal Rule-Anchored Chain-of-Evidence (TRACE) on knowledge graphs for interpretable stock movement prediction that unifies symbolic relational priors, dynamic graph exploration, and LL…
The Mean Opinion Score (MOS) serves as the standard metric for speech quality assessment, yet biases in human annotations remain underexplored. We conduct the first systematic analysis of gender bias …
Trajectory generation for mobile robots in unstructured environments faces a critical dilemma: balancing kinematic smoothness for safe execution with terminal precision for fine-grained tasks. Existin…
We introduce a pignistic-transform-based methodology for fair comparison of Bayesian log-odds and Dempster's combination rule in occupancy grid mapping, matching per-observation decision probabilities…
Dexterous manipulation policies today largely assume fixed hand designs, severely restricting their generalization to new embodiments with varied kinematic and structural layouts. To overcome this lim…
Medical ultrasound (US) imaging is a frontline tool for the diagnosis of kidney diseases. However, traditional freehand imaging procedure suffers from inconsistent, operator-dependent outcomes, lack o…
Remote Operation is touted as being key to the rapid deployment of automated vehicles. Streaming imagery to control connected vehicles remotely currently requires a reliable, high throughput network c…
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