Research
Research
Research
Research
1,021+ open-access research outputs.
This paper presents a trajectory planning method for articulated commercial vehicles, specifically tractor-semitrailers, based on Model Predictive Contouring Control (MPCC). Although MPCC has proven e…
Accurate antenna array calibrations and measurements of aspects such as active element pattern (AEP) are critical for enabling integrated sensing and communication (ISAC) technologies such as directio…
This paper presents a stochastic delayed differential model for rumor propagation during infodemic that incorporates human behavioral response, public skepticism and fact-checking mechanisms. A discre…
This paper presents a framework for safe navigation of a unicycle point robot to a goal position in an environment populated with obstacles from almost any admissible state, considering input limits. …
Road traffic accidents are a leading cause of fatalities worldwide. In the US, human error causes 94% of crashes, resulting in excess of 7,000 pedestrian fatalities and $500 billion in costs annually.…
Reinforcement learning (RL) often struggles in real-world tasks with high-dimensional state spaces and long horizons, where sparse or fixed rewards severely slow down exploration and cause agents to g…
In 1956 John Kelly wrote a paper at Bell Labs describing the relationship between gambling and Information Theory. What came to be known as the Kelly Criterion is both an objective and a closed-form s…
Reliable LiDAR perception requires robustness across sensors, environments, and adverse weather. However, existing datasets rarely provide physically consistent observations of the same scene under va…
In this work, we present RAGE-XY, an extended version of RAGE, a real-time estimation framework that simultaneously infers vehicle velocity, tire slip angles, and the forces acting on the vehicle usin…
Spatial single-loop mechanisms such as Bennett linkages offer a unique combination of one-degree-of-freedom actuation and nontrivial spatial trajectories, making them attractive for lightweight bio-in…
Robot learning increasingly depends on large and diverse data, yet robot data collection remains expensive and difficult to scale. Egocentric human data offer a promising alternative by capturing rich…
ARES OS 2.0 (hereinafter ARES OS) is an open-source software suite to enable laboratory automation and closed-loop autonomous experimentation. Its function is to orchestrate experimental actions and d…
Real-time estimation of vehicle-tire-road friction is critical for allowing autonomous race cars to safely and effectively operate at their physical limits. Traditional approaches to measure tire grip…
Adaptive Traffic Signal Control (ATSC) aims to optimize traffic flow and minimize delays by adjusting traffic lights in real time. Recent advances in Multi-agent Reinforcement Learning (MARL) have sho…
Scaling the design of robots up or down remains a fundamental challenge. While biological systems follow well-established isometric and allometric scaling laws relating mass, stride frequency, velocit…
This paper addresses key challenges in the development of autonomous landing systems, focusing on dataset limitations for supervised training of Machine Learning (ML) models for object detection. Our …
Battery state-of-health (SOH) reported by on-board battery management systems (BMS) is the primary metric available to electric vehicle (EV) owners and regulators, yet no study has validated its relia…
This paper addresses the fundamental question of determining the minimum number of distinct control laws required for global controllability of nonlinear systems that exhibit singularities in their fe…
SLAM (Simultaneous Localization and Mapping) and Odometry are important systems for estimating the position of mobile devices, such as robots and cars, utilizing one or more sensors. Particularly in c…
Residual policy learning (RPL), in which a learned policy refines a static base policy using deep reinforcement learning (DRL), has shown strong performance across various robotic applications. Its ef…
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