Research
Research
Research
Research
25+ open-access research outputs.
Vehicles are becoming increasingly automated and interconnected, enabling the formation of cooperative intelligent transport systems (C-ITS) and the use of offboard services. As a result, cloud-native…
We study how queue-state information disclosures affect impatient tenants in multi-tenant edge systems. We propose an information-bulletin strategy in which each queue periodically broadcasts two Mark…
The capability of autonomous exploration in complex, unknown environments is important in many robotic applications. While recent research on autonomous exploration have achieved much progress, there …
Learning dexterous manipulation skills presents significant challenges due to complex nonlinear dynamics that underlie the interactions between objects and multi-fingered hands. Koopman operators have…
A class of parameter dependent Chen--Fliess series is introduced where the series coefficients are taken from a noncommutative ring of multivariable differential operators. Such series are shown in th…
Future mobility systems and their components are increasingly defined by their software. The complexity of these cooperative intelligent transport systems (C-ITS) and the everchanging requirements pos…
Accurate and robust vehicle localization in highly urbanized areas is challenging. Sensors are often corrupted in those complicated and large-scale environments. This paper introduces GNSS-FGO, an onl…
In an increasingly automated world -- from warehouse robots to self-driving cars -- streamlining the development and deployment process and operations of robotic applications becomes ever more importa…
The global navigation satellite systems (GNSS) play a vital role in transport systems for accurate and consistent vehicle localization. However, GNSS observations can be distorted due to multipath eff…
Modern cyber-physical systems (CPS) such as Cooperative Intelligent Transport Systems (C-ITS) are increasingly defined by the software which operates these systems. In practice, microservice architect…
This paper describes a hierarchical solution consisting of a multi-phase planner and a low-level safe controller to jointly solve the safe navigation problem in crowded, dynamic, and uncertain environ…
In perception tasks of automated vehicles (AVs) data-driven have often outperformed conventional approaches. This motivated us to develop a data-driven methodology to compute occupancy grid maps (OGMs…
Accurate and consistent vehicle localization in urban areas is challenging due to the large-scale and complicated environments. In this paper, we propose onlineFGO, a novel time-centric graph-optimiza…
Enabling secure and reliable high-bandwidth lowlatency connectivity between automated vehicles and external servers, intelligent infrastructure, and other road users is a central step in making fully …
In this paper, we present a system to train driving policies from experiences collected not just from the ego-vehicle, but all vehicles that it observes. This system uses the behaviors of other agents…
Given an additive network of input-output systems where each node of the network is modeled by a locally convergent Chen-Fliess series, two basic properties of the network are established. First, it i…
Evidential occupancy grid maps (OGMs) are a popular representation of the environment of automated vehicles. Inverse sensor models (ISMs) are used to compute OGMs from sensor data such as lidar point …
This work presents the coordinated motion control and obstacle-crossing problem for the four wheel-leg independent motor-driven robotic systems via a model predictive control (MPC) approach based on a…
Sliding meshes are a powerful method to treat deformed domains in computational fluid dynamics, where different parts of the domain are in relative motion. In this paper, we present an efficient imple…
Consider a set of single-input, single-output nonlinear systems whose input-output maps are described only in terms of convergent Chen-Fliess series without any assumption that finite dimensional stat…
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