Research
Research
Research
Research
83+ open-access research outputs.
Alberto Isidori's framework of geometric nonlinear control, and particularly of feedback linearization, is the inspiration behind PDE backstepping: apply a transfromation of the state to cast the plan…
This paper provides the first systematic economic analysis of token pricing in the large language model (LLM) inference market. Assembling a novel dataset integrating OpenRouter API data (318 models),…
Calibrating chemical kinetics in a reaction-diffusion system is challenging because of complex dynamics governed by tightly coupled chemistry and transport, while experimental observations are often s…
Maritime Autonomous Surface Ships (MASS) are increasingly regarded as a promising solution to address crew shortages, improve navigational safety, and improve operational efficiency in the maritime in…
Intra-vehicular free-flying robots are anticipated to support various work in human spaceflight while working side-by-side with astronauts. Such example of robots includes NASA's Astrobee, DLR's CIMON…
Natural hazards such as hurricanes and floods damage power grid equipment, forcing operators to replan restoration repeatedly as new information becomes available. This paper develops a deep reinforce…
Extreme events such as earthquakes pose significant threats to integrated electricity-gas distribution systems (IEGDS) by causing widespread damage. Existing restoration approaches typically assume fu…
This paper presents a feasibility study, including simulations and prototype tests, on the autonomous operation of a multi-limbed intra-vehicular robot (mobile manipulator), shortly MLIVR, designed to…
Natural disasters often inflict severe damage on distribution grids. Rapid, reliable damage assessment (DA) is essential for storm restoration, yet most optimization work targets repair dispatch after…
This paper analyzes the integration of artificial intelligence (AI) with mixed integer linear programming (MILP) to address complex optimization challenges in air transportation with explainability. T…
Although large language models (LLMs) have significant potential to advance chemical discovery, current LLMs lack core chemical knowledge, produce unreliable reasoning trajectories, and exhibit subopt…
Post-disaster crew dispatch is a critical but computationally intensive task. Traditional mixed-integer linear programming methods often require minutes to several hours to compute solutions, leading …
As a critical modality for structural biology, cryogenic electron microscopy (cryo-EM) facilitates the determination of macromolecular structures at near-atomic resolution. The core computational task…
This paper presents Symbiosis of Agents, is a large-scale installation by Baoyang Chen (baoyangchen.com), that embeds AI-driven robots in an immersive, mirror-lined arena, probing the tension between …
This paper introduces the concept of a mean for trajectories and multi-object trajectories (defined as sets or multi-sets of trajectories) along with algorithms for computing them. Specifically, we us…
AI-driven semi-autonomous robotic surgery is essential for addressing the medical challenges of long-duration interplanetary missions, where limited crew sizes and communication delays restrict tradit…
Advances in additive manufacturing (AM) enable new opportunities to design compact heat exchangers (cHEXs) by leveraging flexible geometries to improve energy and material efficiency. However, it is w…
Autonomous visual navigation is an essential element in robot autonomy. Reinforcement learning (RL) offers a promising policy training paradigm. However existing RL methods suffer from high sample com…
Interest in the use of the low earth orbit (LEO) in space - from $160 \text{ km}$ to $2000 \text{ km}$ - has skyrocketed; this is evident by the fact that National Aeronautics and Space Administration…
Robotic systems are increasingly employed for industrial automation, with contact-rich tasks like polishing requiring dexterity and compliant behaviour. These tasks are difficult to model, making clas…
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