Research
Research
Research
Research
618+ open-access research outputs.
Automatic feature recognition (AFR) on B-Rep 3D-CAD models is central to CAD/CAM automation, yet most learning-based methods are complex, data-hungry, and evaluate instance grouping and semantic label…
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 introduce a graph-signal generalisation of Sample Entropy, denoted SampEn$_{G}$, to quantify irregularity of graph signals on a continuous state space, complementing existing methods on symbolic dy…
The collaboration between humans and robots is critical in many robotic applications, especially in those requiring physical human-robot interaction (pHRI). Previous research in pHRI has largely focus…
This paper deals with system representations in finite-sample signal subspaces and their application to data-driven fault detection. The first part addresses concepts of finite-sample image and kernel…
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…
Traditional Active Noise Control (ANC) systems are mostly based on FxLMS algorithms, but such algorithms rely on linear assumptions and are often limited in handling broadband non-stationary noise or …
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…
Conventional field operations spend most of their energy moving the tractor body, not the implement. Yet feasibility studies for novel agricultural vehicles rarely tie mechanics, energy harvest, draft…
This paper investigates the state estimation problem for linear systems subject to Gaussian noise, where the model parameters are unknown. By formulating and solving an optimization problem that incor…
The recent extension of permutation entropy and its derivatives to graph signals has opened up new horizons for the analysis of complex, high-dimensional systems evolving on networks. However, these m…
Perception and decision-making in high-speed dynamic scenarios remain challenging for current robots. In contrast, humans and animals can rapidly perceive and make decisions in such environments. Taki…
The electrification and ongoing energy transition lead to systematic changes in electricity loading and variability in power systems. Distribution systems were designed for regular operating patterns,…
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…
In this paper we propose a detectability condition for nonlinear continuous-time systems with irregular/infrequent output measurements, namely a sample-based version of incremental integral input/outp…
This work considers the problem of using multiple aerial carriers to hold a cable-suspended load while remaining in periodic motion at all times. Using a novel differential geometric perspective, it i…
Generalist robot manipulation policies are becoming increasingly capable, but are limited in evaluation to a small number of hardware rollouts. This strong resource constraint in real-world testing ne…
The increasing demand for accelerated scientific discovery, driven by global challenges, highlights the need for advanced AI-driven robotics. Deploying robotic chemists in human-centric labs is key fo…
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…
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