Research
Research
Research
Research
13+ open-access research outputs.
A reconfigurable intelligent surface (RIS)-assisted non-orthogonal multiple access (NOMA) system is investigated, where the transmitter (Alice) is a dual functional radar communication (DFRC) base sta…
This paper revisits a three-loop spatial linkage that was proposed in an ARK 2004 paper by Karl Wohlhart (as extension of a two-loop linkage proposed by Eddie Baker in 1980) and later analyzed in an A…
To address the challenges of localization drift and perception-planning coupling in unmanned aerial vehicles (UAVs) operating in open-top scenarios (e.g., collapsed buildings, roofless mazes), this pa…
We present Kalman-filter Assisted Reinforcement Learner (KARL) for dynamic object tracking and grasping over eye-on-hand (EoH) systems, significantly expanding such systems capabilities in challenging…
'The cardinal sin in control is to believe that the plant is given' Karl Astrom. Astrom, a towering figure of control theory and practice and awardee of the 1993 IEEE Medal of Honor for his work on ad…
Using Reinforcement Learning (RL) to learn new robotic tasks from scratch is often inefficient. Leveraging prior knowledge has the potential to significantly enhance learning efficiency, which, howeve…
Learning dexterous manipulation skills presents significant challenges due to complex nonlinear dynamics that underlie the interactions between objects and multi-fingered hands. Koopman operators have…
Let us reflect on the state of robotics. This year marks the $101$-st anniversary of R.U.R., a play by the writer Karel \v{C}apek, often credited with introducing the word "robot". The word used to re…
In this paper, we investigate joint information-theoretic security and covert communication on a network in the presence of a single transmitter (Alice), a friendly jammer, a single untrusted user, tw…
Laparoscopic Field of View (FOV) control is one of the most fundamental and important components in Minimally Invasive Surgery (MIS), nevertheless, the traditional manual holding paradigm may easily b…
Rescue robots are expected to carry out reconnaissance and dexterity operations in unknown environments comprising unstructured obstacles. Although a wide variety of designs and implementations have b…
In this paper, we investigate joint information theoretic secrecy and covert communication in a single-input multi-output (SIMO) system where a transmitter (Alice) is communicating with two legitimate…
Sir Karl Popper is well known for explicating science in falsificationist terms, for which his degree of corroboration formalism, C(h,e,b), has become little more than a symbol. For example, de Queiro…
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