Research
Research
Research
Research
163+ open-access research outputs.
We provide a systematic interval observer design method for detectable linear time-invariant (LTI) systems, where a part of the state is observable from the measured output. An observability-based inv…
LiDAR Odometry and Mapping (LOAM) is a pivotal technique for embodied-AI applications such as autonomous driving and robot navigation. Most existing LOAM frameworks are either contingent on the superv…
This work presents a hybrid physics-informed and data-driven modeling framework for predictive control of autonomous off-road vehicles operating on deformable terrain. Traditional high-fidelity terram…
The rapid deployment of distributed energy resources (DERs) is one of the essential efforts to mitigate global climate change. However, a vast number of small-scale DERs are difficult to manage indivi…
Given the popularity of 360{\deg} images on social media platforms, 360{\deg} image compression becomes a critical technology for media storage and transmission. Conventional 360{\deg} image compressi…
In this paper, we address the problem of distributed state estimation for a discrete-time, linear time-invariant system. Building on the framework proposed in [2], we exploit the Jordan canonical form…
Long-tailed class distributions pose a significant challenge for multi-label chest X-ray (CXR) classification, where rare but clinically important findings are severely underrepresented. In this work,…
The explosive growth in wireless service demand has prompted the evolution of integrated satellite-terrestrial networks (ISTNs) to overcome the limitations of traditional terrestrial networks (TNs) in…
Objective. Reliable, continuous neural sensing on wearable edge platforms is fundamental to long-term health monitoring; however, for electroencephalography (EEG)-based sleep monitoring, dense high-fr…
Learning \emph{latent actions} from diverse human videos enables scaling robot learning beyond embodiment-specific robot datasets, and these latent actions have recently been used as pseudo-action lab…
Camera-based visible light positioning (VLP) is a promising technique for accurate and low-cost indoor camera pose estimation (CPE). To reduce the number of required light-emitting diodes (LEDs), adva…
Large Action Models (LAMs) have shown immense potential in autonomous navigation by bridging high-level reasoning with low-level control. However, deploying these multi-billion parameter models on edg…
This paper presents the first probabilistic Digital Twin of operational en route airspace, developed for the London Area Control Centre. The Digital Twin is intended to support the development and rig…
Existing methods for multi-agent navigation typically assume fully known environments, offering limited support for partially known scenarios such as warehouses or factory floors. There, agents may ne…
We challenge the conventional view of neural network pruning as solely a compression technique, demonstrating that one-shot magnitude pruning serves as a powerful implicit regularizer for ASR. Using W…
This work presents an extended framework for learning-based bipedal locomotion that incorporates a heuristic step-planning strategy guided by desired torso velocity tracking. The framework enables pre…
Reliable off-road autonomy requires operational constraints so that behavior stays predictable and safe when soil strength is uncertain. This paper presents a runtime assurance safety monitor that col…
LiDAR Simultaneous Localization and Mapping (SLAM) systems are essential for enabling precise navigation and environmental reconstruction across various applications. Although current point-to-plane I…
As artificial intelligence (AI) chips become more powerful, the thermal management capabilities of conventional silicon (Si) substrates become insufficient for 3D-stacked designs. This work integrates…
We address the challenge of enabling bipedal robots to traverse rough terrain by developing probabilistically safe planning and control strategies that ensure dynamic feasibility and centroidal robust…
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