Research
Research
Research
Research
64+ open-access research outputs.
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…
A Gaussian error assumption is commonly adopted in the pseudorange measurement model for global navigation satellite system (GNSS) positioning, which leads to the conventional least squares (LS) estim…
Foundation models have demonstrated impressive capabilities across diverse domains, while imitation learning provides principled methods for robot skill adaptation from limited data. Combining these a…
Autonomous racing has advanced rapidly, particularly on scaled platforms, and software stacks must evolve accordingly. In this work, AROLA is introduced as a modular, layered software architecture in …
Intrusion detection is a critical component of cybersecurity, responsible for identifying unauthorized access or anomalous behavior in computer networks. This paper presents a comprehensive study on i…
Urban Air mobility has gained momentum with recent advancements in the electric vertical take-off and landing (eVTOL) vehicles, offering faster point-to-point air taxi services that could help relieve…
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…
The Decentralized Finance (DeFi) ecosystem has experienced over \$10 billion in direct losses due to crime events. Beyond these immediate losses, such events often trigger broader market reactions, in…
Branched broomrape (Phelipanche ramosa (L.) Pomel) is a chlorophyll-deficient parasitic plant that threatens tomato production by extracting nutrients from the host, with reported yield losses up to 8…
This study addresses the escalating threat of branched broomrape (Phelipanche ramosa) to California's tomato industry, which supplies over 90 percent of U.S. processing tomatoes. The parasite's largel…
OpenScout is an Open Source Hardware (OSH) mobile robot for research and industry. It is extended to v1.1 which includes simplified, cheaper and more powerful onboard compute hardware; a simulated ROS…
Multi-task Reinforcement Learning (MTRL) has emerged as a critical training paradigm for applying reinforcement learning (RL) to a set of complex real-world robotic tasks, which demands a generalizabl…
Room Impulse Responses (RIRs) accurately characterize acoustic properties of indoor environments and play a crucial role in applications such as speech enhancement, speech recognition, and audio rende…
Vision-Language-Action (VLA) models have recently made significant advance in multi-task, end-to-end robotic control, due to the strong generalization capabilities of Vision-Language Models (VLMs). A …
The increasing deployment of multi-agent systems (MAS) in critical infrastructures such as autonomous transportation, disaster relief, and smart cities demands robust formation control mechanisms resi…
Craniosynostosis is a medical condition that affects the growth of babies' heads, caused by an early fusion of cranial sutures. In recent decades, surgical treatments for craniosynostosis have signifi…
This paper introduces the Cable Robot Simulation and Control (CaRoSaC) Framework, which integrates a simulation environment with a model-free reinforcement learning control methodology for suspended C…
The DARPA Fast Lightweight Autonomy (FLA) program (2015 - 2018) served as a significant milestone in the development of UAS, particularly for autonomous navigation through unknown GPS-denied environme…
In this paper, we present a learning-based nonlinear model predictive controller (NMPC) using an original reinforcement learning (RL) method to learn the optimal weights of the NMPC scheme, for which …
Depth sensing is an important problem for 3D vision-based robotics. Yet, a real-world active stereo or ToF depth camera often produces noisy and incomplete depth which bottlenecks robot performances. …
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