Research
Research
Research
Research
4,352+ open-access research outputs.
This paper considers the robust control of a catenary robot composed of two quadrotors connected by an inextensible cable. The system is modeled on \(SE(3)\), with the cable treated as a geometric sub…
Automatic Emergency Braking (AEB) systems represent a safety-critical national interest, with the National Highway Traffic Safety Administration (NHTSA) Federal Motor Vehicle Safety Standard (FMVSS No…
We study finite-horizon budget allocation as a closed-loop economic control problem and evaluate receding-horizon Model Predictive Control (MPC) relative to reactive budgeting policies. Budgets are al…
This paper presents a hierarchical decision-making framework for unmanned aerial vehicle (UAV) missions motivated by search-and-rescue (SAR) scenarios under limited simulation training. The framework …
Electric truck operations require routing decisions that remain feasible under limited battery range, long charging times, travel and energy consumption, and competition for shared charging infrastruc…
Micro DC brushed motors are widely deployed in battery-powered biomedical systems, where limited energy budgets and variable physiological loading impose stringent efficiency and safety constraints. H…
Contact variability, sensing uncertainty, and external disturbances make grasp execution stochastic. Expected-quality objectives ignore tail outcomes and often select grasps that fail under adverse co…
Localized features such as singularities, sharp gradients, discontinuities, and moving sources require adaptive finite element discretizations. Conventional refinement strategies introduce significant…
This paper presents a sensitivity-based tube Nonlinear Model Predictive Control (NMPC) framework for cooperative aerial chains under bounded parametric uncertainty. We consider a planar two-vehicle ch…
Foundation segmentation models such as the Segment Anything Model (SAM) have demonstrated strong generalization across natural images; however, their robustness under clinically realistic medical imag…
This letter proposes a novel mathematical framework for the statistical characterization of reconfigurable intelligent surface (RIS)-mounted high-altitude platform station (HAPS)-assisted MIMO systems…
Under-resourced languages remain underrepresented in quantitative rhythm research,particularly in systematic intra-branch analysis of acoustic differentiation within closely related linguistic groups.…
Computational constraints permeate the controller design process, and yet are rarely treated as explicit design constraints. Towards addressing this gap, we propose a quantitative framework that captu…
Visual reinforcement learning aims to empower an agent to learn policies from visual observations, yet it remains vulnerable to dynamic visual perturbations, such as unpredictable shifts in corruption…
Accurate estimation of thermospheric mass density is a prerequisite for orbit prediction and space situational awareness, where the upper atmosphere responds nonlinearly to solar and geomagnetic forci…
OpenPodcar2 is a robust, ROS2-interfaced, low-cost, open source hardware and software, autonomous vehicle platform based on an off-the-shelf, hard-canopy, mobility scooter donor vehicle. It is a modif…
Wind-traffic interactions strongly influence the dynamic response of long-span bridges, yet loads are often analysed independently. This work models concurrent wind and traffic and demonstrates that i…
Accurately estimating friction coefficients between arbitrary material pairs is critical for robotics, digital fabrication, and physics-based simulation, but exhaustive pairwise testing scales quadrat…
This paper addresses the planning and control problem for nonlinear systems under Signal Temporal Logic (STL) specifications. We first decompose an STL task into finite local tasks. A sampling-based m…
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 …
Free open-access publishing with Google Scholar indexing.
Submission Guide →