Research
Research
Research
Research
1,936+ open-access research outputs.
As autonomous vehicles slowly deploy into urban roads for limited use cases with significant edge case issues, closed facilities like marshaling yards provide a ripe case for combining lower-level veh…
Wave-driven desalination systems are an innovative solution to the global freshwater crisis, leveraging the complementary characteristics of seawater reverse osmosis and wave energy converters. Howeve…
This paper addresses the Dynamic UGV-UAV Cooperative Path Planning (DUCPP) problem involving one unmanned ground vehicle (UGV) assisted by one or more unmanned aerial vehicles (UAVs) operating on an u…
The production of concrete generates roughly 8% of anthropogenic CO2 globally, largely because of the massive quantities that are manufactured. New design methods must be developed and deployed to imp…
In this paper, the quasi-constant modulus (QCM) property is analyzed and leveraged in the design of nonlinearity-tolerant four-dimensional (4D) modulation formats. Accordingly, we propose a family of …
Power system expansion depends on the equipment required to connect, convert, regulate, and condition electricity, yet grid-supporting equipment (GSE) is rarely modeled as an explicit constraint. We d…
The matrix-free gather-batched-GEMM-scatter pattern eliminates global stiffness assembly for three-dimensional SIMP topology optimization, but the conventional three-stage implementation forces avoida…
Autonomous navigation requires planning to reach a goal safely and efficiently in complex and potentially dynamic environments. Graph search-based algorithms are widely adopted due to their generality…
Understanding the origin of optimization difficulty in high-dimensional combinatorial spaces remains a fundamental problem. Existing perspectives typically characterize difficulty in terms of properti…
Various distributed gradient descent algorithms for multi-agent optimization have incorporated the Nesterov accelerated gradient method, where the use of momentum enhances convergence rates. These alg…
State estimation is a fundamental requirement in robotics, where the accurate determination of a robot's state is essential for stable operation despite inherent process disturbances and sensor noise.…
Continuum robots are well suited for navigating confined and fragile environments, such as vascular or endoluminal anatomy, where contact with surrounding structures is often unavoidable. While contro…
Covering one third of Earth's land surface, forests are vital to global biodiversity, climate regulation, and human well-being. In Europe, forests and woodlands reach approximately 40% of land area, a…
Deep learning has enabled highly realistic synthetic speech, raising concerns about fraud, impersonation, and disinformation. Despite rapid progress in neural detectors, transparent baselines are need…
Robots deployed in unstructured environments must coordinate whole-body motion -- simultaneously moving a mobile base and arm -- to interact with the physical world. This coupled mobility and dexterit…
We present 3D-Anchored Lookahead Planning (3D-ALP), a System 2 reasoning engine for robotic manipulation that combines Monte Carlo Tree Search (MCTS) with a 3D-consistent world model as the rollout or…
We propose CisLunarSense, an opportunistic integrated sensing and communication (ISAC) framework that exploits the Lunar Gateway's Ka-band relay for monostatic debris detection, addressing the absence…
Prediction markets are starting to look less like crowd polls and more like electronic markets. The central question is therefore no longer only whether these markets forecast well, but what happens w…
Purpose: Image reconstruction in challenging scenarios requires accurate characterisations of coil sensitivity profiles, local off-resonances (B0) and effective encoding fields. Reconstruction methods…
This paper presents a theoretical convergence analysis for an opinion-action coevolution model that integrates the opinion updating rule of the Hegselmann-Krause model with a utility-based decision-ma…
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