Research
Research
Research
Research
5,932+ open-access research outputs.
Accurate localization is a fundamental requirement for autonomous robots operating in indoor environments. Scene graphs encode the spatial structure of an environment as a hierarchy of semantic entiti…
This paper proposes a bitwise over-parameterized neural network (ONN) decoder for polar-coded transmission and develops a tractable theoretical performance analysis framework. By modeling each synthes…
Dense, dynamic crowds pose a persistent challenge for autonomous mobile robots. Purely reactive planning methods, such as Model Predictive Path Integral (MPPI) control, often fail to escape local mini…
Simulating optical tactile sensors presents significant challenges due to their high deformability and intricate optical properties. To address these issues and enable a physically accurate simulation…
Terahertz (THz) communication has emerged as a key enabler for sixth-generation (6G) networks, offering ultrawide bandwidths to support data-intensive applications such as holographic telepresence and…
The integration of multimodal sensing and millimeter-wave (mmWave) communications is a key enabler for highly mobile vehicle-to-infrastructure (V2I) networks. However, continuous high-resolution visua…
In this paper, we introduce GET-2D-1.0, a fast grasp planner for the GET asymmetrical gripper that operates from a single-view RGB-D image, using the Ferrari-Canny metric and a novel sampling strategy…
We aim to learn a sparse and connected graph from sparse data, where the number of observations K can be substantially smaller than the signal dimension N for signals x in R^N, and the underlying dist…
Doorways and passages are critical structural elements for indoor robot navigation, yet they remain underexplored in modern Visual SLAM (VSLAM) frameworks. This paper presents a passage-aware structur…
CONCERTO is a millimeter-wave imaging instrument that operated on the Atacama Pathfinder Experiment (APEX) telescope from April 2021 to May 2023. Its primary scientific objectives include the study of…
This paper studies the problem of robot performance evaluation, focusing on how to obtain accurate and efficient estimates of real-world behavior under severe constraints on physical experimentation. …
This work presents GS-DOT, a novel image reconstruction framework based on Gaussian Splatting (GS) for diffuse optical tomography (DOT). Inspired by GS for rendering applications, absorption coefficie…
The advancement of robot learning is currently hindered by the scarcity of large-scale, high-quality datasets. While established data collection methods such as teleoperation and universal manipulatio…
Wireless localization of permanent magnets enables occlusion-free guidance for medical interventions, yet its practical accuracy is fundamentally limited by two coupled challenges: the poor observabil…
Using self-supervised learning (SSL) models has significantly improved performance for downstream speech tasks, surpassing the capabilities of traditional hand-crafted features. This study investigate…
Sub-gram flapping-wing flying insect robots (FIRs) are challenging to model because of mechanical complexity in their wings, unsteady aerodynamic flow, and the difficulty of making precise measurement…
The aim of this paper is to demonstrate some interesting and useful approaches for writing a program in the assembly language. In order to demonstrate the possibilities of the assembly language, a pro…
In this paper, we aim to extend the traditional point-mass-like robot representation in swarm robotics and instead study a swarm of long Heavy Articulated Vehicles (HAVs). HAVs are kinematically const…
We develop a wildfire simulation model that evolves the temperature scalar field using an energy balance equation accounting for heat generation, transport, and loss. For these equations, we develop q…
Modern UAV architectures increasingly aim to unify high-level autonomy and low-level flight control on a single General-Purpose Operating System (GPOS). However, complex multi-core System-on-Chips (So…
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