Research
Research
Research
Research
1,157+ open-access research outputs.
Large 3D SIMP studies require repeated elasticity solves for density-dependent operators whose finest matrices are expensive to assemble and whose conditioning degrades under high contrast. We study t…
Reverse parking maneuvering of a vehicle with trailer system is a difficult task to complete for human drivers due to the multi-body nature of the system and the unintuitive controls required to orien…
Infrastructure-based localization enhances road safety and traffic management by providing state estimates of road users. Development is hindered by fragmented, application-specific stacks that tightl…
Path integral control in Gaussian belief space requires a structural matching condition between the observation-driven diffusion of the belief mean and the actuation authority, which a fixed observati…
Safety filters have been shown to be effective tools to ensure the safety of control systems with unsafe nominal policies. To address scalability challenges in traditional synthesis methods, learning-…
Autonomous navigation requires planning to reach a goal safely and efficiently in complex and potentially dynamic environments. Graph search-based algorithms are widely adopted due to their generality…
This paper presents a unified optimization framework for phase change material (PCM) based cooling systems. Thermal management is critical in applications such as photovoltaic (PV) modules, battery pa…
Medical image denoising (MID) lacks absolutely clean images for supervision, leading to a noisy reference problem that fundamentally limits denoising performance. Existing simulated-supervised discrim…
Data-driven Model Predictive Control (MPC) has lately been the core research subject in the field of control theory. The combination of an optimal control framework with deep learning paradigms opens …
Behavior cloning (BC) policies on position-controlled robots inherit the closed-loop response of the underlying PD controller, yet the effect of controller gains on BC failure lacks a nonasymptotic th…
High-precision direction-of-arrival (DOA) estimation, as a key sensing capability for 6G-enabled applications such as autonomous driving and extended reality, is increasingly dependent on the effectiv…
Safety filters provide a practical approach for enforcing safety constraints in autonomous systems. While learning-based tools scale to high-dimensional systems, their performance depends on informati…
This paper extends path integral control (PIC) to partially observed systems by formulating the problem in Gaussian belief space. PIC relies on the diffusion being proportional to the control channel …
DC microgrids are converter-based electrical networks that are increasingly being used in various applications, including data centers and industrial distribution systems. A central challenge in their…
Open-source software for cyber-physical systems (CPS) often lacks robust testing involving robotic platforms, resulting in critical errors that remain undetected. This is especially challenging when m…
This work explores controllability and the control effort required for lithium-ion batteries. Battery packs have become a critical technology in both personal and professional applications as a means …
With advancements in multimodal communication technologies, remote learning environments such as, distance universities are increasing. Remote learning typically happens asynchronously. As a consequen…
Large Language Models (LLMs) are increasingly used to convert task commands into robot-executable code, however this pipeline lacks validation gates to detect unsafe and defective commands before they…
Dexterous manipulation requires planning a grasp configuration suited to the object and task, which is then executed through coordinated multi-finger control. However, specifying grasp plans with dens…
Video is a scalable observation of physical dynamics: it captures how objects move, how contact unfolds, and how scenes evolve under interaction -- all without requiring robot action labels. Yet trans…
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