Research
Research
Research
Research
319+ 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…
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…
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 …
In applications such as autonomous landing and navigation, it is often desirable to steer toward a target while retaining the ability to divert to at least $r$ (out of $p$) alternative sites if condit…
Computing the effective resistance between nodes in finite discrete resistor grids is a classical problem in circuit analysis with applications in VLSI power delivery network analysis, graph theory, a…
Safety-critical control of piecewise affine (PWA) systems under bounded additive disturbances requires guarantees not for individual states but for entire state sets simultaneously: a single control a…
Autonomous robots commonly aim to complete a nominal behavior while minimizing a cost; this leaves them vulnerable to failure or unplanned scenarios, where a backup or contingency plan to a safe set i…
Hamilton-Jacobi (HJ) reachability provides formal safety guarantees for nonlinear systems. However, it becomes computationally intractable in high-dimensional settings, motivating learning-based appro…
This paper studies obstacle avoidance under translation invariant dynamics using an avoid-side travel cost Hamilton Jacobi formulation. For running costs that are zero outside an obstacle and strictly…
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…
Many core problems in nonlinear systems analysis and control can be recast as solving partial differential equations (PDEs) such as Lyapunov and Hamilton-Jacobi-Bellman (HJB) equations. Physics-inform…
Hamilton-Jacobi (HJ) reachability provides formal safety guarantees for dynamical systems, but solving high-dimensional HJ partial differential equations limits its use in real-time planning. This pap…
This paper presents a two-stage framework for constrained near-optimal feedback control of input-affine nonlinear systems. An approximate value function for the unconstrained control problem is comput…
Safe navigation of autonomous robots remains one of the core challenges in the field, especially in dynamic and uncertain environments. One of the prevalent approaches is safety filtering based on con…
Bio-inspired aquatic propulsion offers high thrust and maneuverability but is prone to destabilizing forces such as lift fluctuations, which are further amplified by six-degree-of-freedom (6-DoF) flui…
Control Barrier Functions (CBFs) are a powerful tool for ensuring robotic safety, but designing or learning valid CBFs for complex systems is a significant challenge. While Hamilton-Jacobi Reachabilit…
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