Research
Research
Research
Research
130+ open-access research outputs.
Real-world deployments of human--swarm teams depend on balancing operator workload to leverage human strengths without inducing overload. A key challenge is that swarm size is often dynamic: robots ma…
We address the problem of interaction topology identification in open multi-agent systems (OMAS) with dynamic node sets and fast switching interactions. In such systems, new agents join and interactio…
In 1956 John Kelly wrote a paper at Bell Labs describing the relationship between gambling and Information Theory. What came to be known as the Kelly Criterion is both an objective and a closed-form s…
We consider safety-critical multi-agent systems with distributed control architectures and potentially varying network topologies. While learning-based distributed control enables scalability and high…
A unified structural framework is presented for model-based fault diagnosis that explicitly incorporates both fault locations and constraints imposed by the residual generation methodology. Building o…
Autonomous underwater vehicles (AUVs) are increasingly used to survey coral reefs, yet efficiently locating specific coral species of interest remains difficult: target species are often sparsely dist…
We address the synchronization problem in open multi-agent systems (OMAS) containing both cooperative and antagonistic interactions. In these systems, agents can join or leave the network over time, a…
Ultrasound is a cornerstone of emergency and hepatobiliary imaging, yet its interpretation remains highly operator-dependent and time-sensitive. Here, we present a multitask vision-language agent (VLM…
The rapid proliferation of wireless devices makes robust identity authentication essential. Radio Frequency Fingerprinting (RFF) exploits device-specific, hard-to-forge physical-layer impairments for …
This paper develops a hierarchical games-in-games control architecture for hybrid stochastic systems governed by regime-switching jump-diffusions. We model the interplay between continuous state dynam…
Searches are conducted to find missing persons and/or objects given uncertain information, imperfect observers and large search areas in Search and Rescue (SAR). In many scenarios, such as Maritime SA…
Human skin provides a rich tactile sensing stream, localizing intentional and unintentional contact events over a large and contoured region. Replicating these tactile sensing capabilities for dextero…
Formation maintenance with varying number of drones in narrow environments hinders the convergence of planning to the desired configurations. To address this challenge, this paper proposes a formation…
In this paper, we tackle the problem of distributed optimization over directed networks in open multi-agent systems (OMAS), where agents may dynamically join or leave, causing persistent changes in ne…
As humans move toward collaborating with coordinated robot teams, understanding how these teams coordinate and fail is essential for building trust and ensuring safety. However, exposing human collabo…
Large language models have shown a remarkable ability to extract meaning from unstructured data, offering new ways to interpret biomedical signals beyond traditional numerical methods. In this study, …
Critical retained foreign objects (RFOs), including surgical instruments like sponges and needles, pose serious patient safety risks and carry significant financial and legal implications for healthca…
Mechanical thrombectomy has become the standard of care in patients with stroke due to large vessel occlusion (LVO). However, only 50% of successfully treated patients show a favorable outcome. We dev…
This study introduces a novel unsupervised approach for separating overlapping heart and lung sounds using variational autoencoders (VAEs). In clinical settings, these sounds often interfere with each…
This paper proposes a novel formation maneuver control method for both 2-D and 3-D space, which enables the formation to translate, scale, and rotate with arbitrary orientation. The core innovation is…
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