Research
Research
Research
Research
265+ open-access research outputs.
Deploying neural-network control barrier functions (CBFs) on embedded hardware requires evaluating the barrier value and its Lie derivatives along the system vector fields at every control cycle. The …
Many problems in robotics require reasoning over a mix of continuous dynamics and discrete events, such as making and breaking contact in manipulation and locomotion. These problems are locally well m…
Accurate state estimation for robotic systems evolving on Lie group manifolds, such as legged robots, is a prerequisite for achieving agile control. However, this task is challenged by nonlinear obser…
Sensor spoofing analysis in cyber-physical systems is predominantly confined to linear state spaces, where attack transferability is trivial. On Lie groups, however, the noncommutativity of the dynami…
In this paper, we propose a learning framework for synthesizing a robust controller for dynamical systems evolving on a Lie group. A robust control contraction metric (RCCM) and a neural feedback cont…
It has recently been shown that the evolution of a state, described by a Partial Differential Equation (PDE), can be more conveniently represented as the evolution of the state's highest spatial deriv…
We present a novel framework that jointly trains a neural network controller and a neural Riemannian metric with rigorous closed-loop contraction guarantees using formal bound propagation. Directly bo…
This paper introduces PowerDAG, an agentic AI system for automating complex distribution-grid analysis. We address the reliability challenges of state-of-the-art agentic systems in automating complex …
This paper introduces a general Lie group framework for modeling continuum soft robots, employing Cosserat rod theory combined with cumulative parameterization on the Lie group SE(3). This novel appro…
This tutorial presents a control-oriented introduction to aided inertial navigation systems using a Lie-group formulation centered on the extended Special Euclidean group SE_2(3). The focus is on deve…
Deploying robots in household environments requires safe, adaptable, and interpretable behaviors that respect the geometric structure of tasks. Often represented on Lie groups and Riemannian manifolds…
This paper presents a novel vector field strategy for controlling fully-actuated systems on connected matrix Lie groups, ensuring convergence to and traversal along a curve defined on the group. Our a…
Reliable localization is a fundamental requirement for multi-robot systems operating in GPS-denied environments. Visual-inertial odometry (VIO) provides lightweight and accurate motion estimation but …
Fully unsupervised deep generative modeling (FU-DGM) is promising for compressively sampled MRI (CS-MRI) when training data or compute are limited. Classical FU-DGMs such as DIP and INR rely on archit…
Current humanoid motion tracking systems can execute routine and moderately dynamic behaviors, yet significant gaps remain near hardware performance limits and algorithmic robustness boundaries. Marti…
In this paper, we derive the continuous space-time equations of motion of a three-dimensional geometrically exact rod, or the Cosserat rod, incorporating planar cross-sectional deformation. We then ad…
This paper presents a low-jitter hybrid voltage level shifter (HVLS) suitable for high-speed applications. The proposed architecture offers the advantage of cross-coupled feedback to simultaneously ge…
In reconfigurable intelligent surface (RIS)-assisted millimeter-wave (mmWave) communication systems, the large-scale RIS introduces pronounced geometric effects that lead to the coexistence of far-fie…
A classical approach to the multibody systems (MBS) modeling is to use absolute coordinates, i.e., a set of (possibly redundant) coordinates that describe the absolute position and orientation of the …
In high-dimensional robotic path planning, traditional sampling-based methods often struggle to efficiently identify both feasible and optimal paths in complex, multi-obstacle environments. This chall…
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