Research
Research
Research
Research
3,452+ open-access research outputs.
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…
Accurate segmentation and localization of left atrial (LA) ablation scars from Late gadolinium enhancement (LGE)-MRI is essential for assessing the lesion completeness and guiding ablation therapy. In…
As the penetration of distributed energy resources (DERs) increases, harnessing their flexibility becomes critical for power system operations. Virtual power plants (VPPs) offer a promising solution. …
World action models jointly predict future video and action during training, raising an open question about what role the future-prediction branch actually plays. A recent finding shows that this bran…
This paper addresses the Dynamic UGV-UAV Cooperative Path Planning (DUCPP) problem involving one unmanned ground vehicle (UGV) assisted by one or more unmanned aerial vehicles (UAVs) operating on an u…
Guiding Vector Fields (GVFs) are a powerful tool for robotic path following. However, classical methods assume smooth, ordered curves and fail when paths are unordered, multi-branch, or generated by p…
Shared Control methods often use impedance control to track target poses in a robotic manipulator. The guidance behavior of such controllers is shaped by the used stiffness gains, which can be varying…
Physical layer (PHY) steganography conceals secrets by making subtle modifications to transmitted radio waveforms, which can be applied to establish covert communication systems. Given the widespread …
Modern world models are becoming too complex to admit explicit dynamical descriptions. We study safety-critical contextual control, where a Planner must optimize a task objective using only feasibilit…
Developing bipedal football robots in dynamiccombat environments presents challenges related to motionstability and deep coupling of multiple tasks, as well ascontrol switching issues between differen…
Power system expansion depends on the equipment required to connect, convert, regulate, and condition electricity, yet grid-supporting equipment (GSE) is rarely modeled as an explicit constraint. We d…
Reconfigurable intelligent surfaces (RISs) have emerged as a promising solution for enabling energy-efficient and flexible spectrum usage in wireless communication, particularly in the context of sixt…
Generative Semantic Communication (GSC) is a promising solution for image transmission over narrow-band and high-noise channels. However, existing GSC methods rely on long, indirect transport trajecto…
Vision-Language-Action (VLA) models have gained much attention from the research community thanks to their strength in translating multimodal observations with linguistic instructions into desired rob…
Financial Transmission Rights (FTRs) enable electricity market participants to hedge congestion risk in Day Ahead Market (DAM) operations, but for the market to be solvent, Independent System Operator…
Controllers for motor drives typically require a current reference which will satisfy the requested torque subject to system constraints. This work generalizes existing current reference theory to the…
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…
Oil spills represent a severe threat, making early-stage thickness estimation crucial for guiding remediation efforts. Unmanned Aerial Vehicles (UAVs) are an attractive platform for environmental moni…
Cardiovascular diseases account for around 17.9 million deaths per year globally, the treatment of which is challenging considering the confined space and complex topology of the vascular network and …
The motion planning problem requires finding a collision-free path between start and goal configurations in high-dimensional, cluttered spaces. Recent learning-based methods offer promising solutions,…
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