Research
Research
Research
Research
181+ open-access research outputs.
Accurate segmentation and localization of left atrial (LA) ablation scars from Late gadolinium enhancement (LGE)-MRI is essential for assessing the lesion completeness and guiding ablation therapy. In…
Many problems in robotics require reasoning over a mix of continuous dynamics and discrete events, such as making and breaking contact in manipulation and locomotion. These problems are locally well m…
Power-to-ammonia (P2A) provides a carbon-free alternative to conventional ammonia production by replacing fossil-based feedstocks with electrolytic hydrogen and nitrogen from air separation. For decen…
We present \texttt{DR-DAQP}, an open-source solver for strongly monotone affine variational inequaliries that combines Douglas-Rachford operator splitting with an active-set acceleration strategy. The…
Aerial manipulation (AM) expands UAV capabilities beyond passive observation to contact-based operations at high altitudes and in otherwise inaccessible environments. Although recent advances show pro…
The increasing penetration of photovoltaic (PV) generation in low-voltage distribution networks presents operational challenges, with overvoltages being among the most critical. This study introduces …
The difficulty with control of population dynamics, besides the states being positive and the control having to also be positive, is the extreme difference in the dynamics near extinction and at overp…
We present StochasticBarrier.jl, an open-source Julia-based toolbox for generating Stochastic Barrier Functions (SBFs) for safety verification of discrete-time stochastic systems with additive Gaussia…
The consideration of stochastic uncertainty in optimal and predictive control is a well-explored topic. Recently Polynomial Chaos Expansions (PCE) have received considerable attention for problems inv…
This paper studies targeted opinion formation in multi-agent systems evolving over signed, time-varying directed graphs. The dynamics of each agent's state follow a Laplacian-based update rule driven …
We present a reinforcement learning framework for quadrupedal wall-climbing locomotion that explicitly addresses uncertainty in magnetic foot adhesion. A physics-based adhesion model of a quadrupedal …
Diffusion-based models for robotic control, including vision-language-action (VLA) and vision-action (VA) policies, have demonstrated significant capabilities. Yet their advancement is constrained by …
The safe operation of quadrotors in near-wall urban or indoor environments (e.g., inspection and search-and-rescue missions) is challenged by unmodeled aerodynamic effects arising from wall-proximity.…
In emergency response missions, first responders must navigate cluttered indoor environments where occlusions block direct line-of-sight, concealing both life-threatening hazards and victims in need o…
With the acceleration of urbanization, the number of high-rise buildings and large public facilities is increasing, making curtain walls an essential component of modern architecture with widespread a…
Achieving seamless integration of aerial flight, ground driving, and wall climbing within a single robotic platform remains a major challenge, as existing designs often rely on additional adhesion act…
Abdominal aortic aneurysm (AAA) is a life-threatening condition characterized by permanent enlargement of the aorta, often detected incidentally during imaging for unrelated conditions. Current manage…
This paper presents the design of a pose estimator for a four wheel independent steer four wheel independent drive (4WIS4WID) wall climbing mobile robot, based on the fusion of multimodal measurements…
The discrete exterior calculus (DEC) defines a family of discretized differential operators which preserve certain desirable properties from the exterior calculus. We formulate and solve the porous co…
In the context of labor shortages and rising costs, construction robots are regarded as the key to revolutionizing traditional construction methods and improving efficiency and quality in the construc…
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