Research
Research
Research
Research
161+ 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…
Change detection of high-resolution remote sensing images is an important task in earth observation and was extensively investigated. Recently, deep learning has shown to be very successful in plenty …
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…
Neuroendovascular access often relies on passive microwires that are hand-shaped at the back table and then used to track a microcatheter to the target. Neuroendovascular surgeons determine the shape …
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 …
Training large language models (LLMs) imposes extreme demands on computation, memory capacity, and interconnect bandwidth, driven by their ever-increasing parameter scales and intensive data movement.…
Rapid and reliable incident detection is critical for reducing crash-related fatalities, injuries, and congestion. However, conventional methods, such as closed-circuit television, dashcam footage, an…
Hybrid locomotion of wheeled-legged robots has recently attracted increasing attention due to their advantages of combining the agility of legged locomotion and the efficiency of wheeled motion. But a…
This research presents a multi-robot system for inpatient care, designed using swarm intelligence principles and incorporating wearable health sensors, RF-based communication, and AI-driven decision s…
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…
Robot person following (RPF) -- mobile robots that follow and assist a specific person -- has emerging applications in personal assistance, security patrols, eldercare, and logistics. To be effective,…
Accurate pathloss prediction is essential for the design and optimization of UAV-assisted millimeter-wave (mmWave) networks. While deep learning approaches have shown strong potential, their generaliz…
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…
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