Research
Research
Research
Research
284+ open-access research outputs.
Path integral control in Gaussian belief space requires a structural matching condition between the observation-driven diffusion of the belief mean and the actuation authority, which a fixed observati…
We propose a matrix zonotope perturbation framework that leverages matrix perturbation theory to characterize how noise-induced distortions alter the dynamics within sets of models. The framework deri…
This paper extends path integral control (PIC) to partially observed systems by formulating the problem in Gaussian belief space. PIC relies on the diffusion being proportional to the control channel …
Obstacle avoidance is a fundamental vision-based task essential for enabling quadrotors to perform advanced applications. When planning the trajectory, existing approaches both on optimization and lea…
In Landmark-Inertial Simultaneous Localisation and Mapping (LI-SLAM), the positions of landmarks in the environment and the robot's pose relative to these landmarks are estimated using landmark positi…
The growing integration of renewable and decentralized generation increases the need for flexibility in distribution systems. This flexibility, typically represented in a PQ capability curve, is const…
Existing approaches for battery health forecasting often rely on extensive cycling histories and continuously monitored cells. In contrast, many real-world scenarios provide only sparse information, e…
With the rapid advancement of 6G, identity authentication has become increasingly critical for ensuring wireless security. The lightweight and keyless Physical Layer Authentication (PLA) is regarded a…
This paper presents the development of an algorithm, termed the Global-Local Hybrid Surrogate (GLHS), designed to efficiently compute the probability of rare failure events in complex systems. The pri…
Embodied Artificial Intelligence (EAI) is rapidly developing, gradually subverting previous autonomous systems' paradigms from isolated perception to integrated, continuous action. This transition is …
Multilingual speaker verification (SV) remains challenging due to limited cross-lingual data and language-dependent information in speaker embeddings. This paper presents a language-invariant multilin…
We present DLIOS, a Large Language Model (LLM)-augmented real-time multi-modal interactive enhancement overlay system for Douyin (TikTok) live streaming. DLIOS employs a three-layer transparent window…
Early diagnosis of battery thermal anomalies is crucial to ensure safe and reliable battery operation by preventing catastrophic thermal failures. Battery diagnostics primarily rely on battery surface…
Accurate, real-time, yet non-destructive estimation of internal states in lithium-ion batteries is critical for predicting degradation, optimizing usage strategies, and extending operational lifespan.…
The electrification of vertical takeoff and landing aircraft demands high-fidelity battery management systems capable of predicting voltage response under aggressive power dynamics. While data-driven …
Diffusion-based visuomotor policies excel at modeling action distributions but are inference-inefficient, since recursively denoising from noise to policy requires many steps and heavy UNet backbones,…
Generative artificial intelligence (GAI) plays a fundamental role in high-impact AI-based systems such as SORA and AlphaFold. Currently, GAI shows limited capability in the specialized domains due to …
Conventional Li-ion battery ageing models, such as electrochemical, semi-empirical and empirical models, require a significant amount of time and experimental resources to provide accurate predictions…
Conventional Li-ion battery ageing models, such as electrochemical, semi-empirical and empirical models, require a significant amount of time and experimental resources to provide accurate predictions…
This paper presents a customized microgrid planning algorithm and tool, HyMGP, for remote sites in arid regions, which is formulated as a Mixed Integer Linear Programming (MILP) problem. HyMGP is comp…
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