Research
Research
Research
Research
2,549+ 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…
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…
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…
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…
Humanoid robots operating in human-centered environments (e.g., homes, hospitals, and offices) must mitigate foot--ground impact transients, as impact-induced vibration and noise degrade user experien…
Accurately characterizing wind power uncertainty under icing and post-disaster conditions remains a critical challenge for resilient power system operation. To address this issue, this paper proposes …
Two-fold redundant sparse arrays possess inbuilt redundancy to tackle single-element failures. This property enables them to perform accurate direction of arrival (DOA) estimation even during single s…
Have you ever post-trained a generalist vision-language-action (VLA) policy on a small demonstration dataset, only to find that it stops responding to new instructions and is limited to behaviors obse…
Thanks to the latest advances in learning and robotics, domestic robots are beginning to enter homes, aiming to execute household chores autonomously. However, robots still struggle to perform autonom…
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