Research
Research
Research
Research
974+ open-access research outputs.
We present a unifying Nearly Asymptotically Invariant Manifold (NAIM) framework for understanding Nesterovs Accelerated Gradient (NAG) method. By lifting the first-order gradient flow into a second-or…
Generative motion prediction must satisfy three simultaneous requirements for real-world autonomy: high accuracy, diverse multimodal futures, and strictly bounded latency. Diffusion models meet the fi…
In practical early-stage battery-electric vehicle studies, analysis workflows may become fragmented across spreadsheets, notebooks, and project-specific scripts, making reuse, audit, and extension har…
Artificial intelligence is increasingly described as a candidate next generation general purpose technology (GPT). However, existing interpretations predominantly emphasize performance scaling rather …
Deploying neural-network control barrier functions (CBFs) on embedded hardware requires evaluating the barrier value and its Lie derivatives along the system vector fields at every control cycle. The …
As a practical physical implementation of pinching-antenna systems, leaky coaxial cable (LCX) enables distributed radiation in more general wireless environments, particularly for lower-frequency appl…
Radar-Inertial Odometry (RIO) based on the Extended Kalman Filter (EKF) relies on accurate extrinsic calibration between the radar and the Inertial Measurement Unit (IMU) and is sensitive to disturban…
Neural representations (NRs), such as neural fields and 3D Gaussians, effectively model volumetric data in computed tomography (CT) but suffer from severe artifacts under sparse-view settings. To addr…
We present principles of algebraic diversity (AD), a group-theoretic approach to signal processing exploiting signal symmetry to extract more information per observation, complementing classical metho…
In this letter, we propose a sparsification method for precoding codebooks that reduces the peak-to-average power ratio (PAPR) while preserving the achievable rate. By exploiting the fact that precode…
We present a trajectory-based optimization framework for arrival sequencing and scheduling in the terminal maneuvering area (TMA). Unlike node-link scheduling models that reduce trajectories to time-d…
With a steady increase in the inverter technology integration to the grid, frequency response of the large inter-connection system becomes more unpredictable. This leads to a significant change in the…
Kalman filter-based algorithms are fundamental for mobile robots, as they provide a computationally efficient solution to the challenging problem of state estimation. However, they rely on two main as…
Reliable odometry is essential for mobile robots as they increasingly enter more challenging environments, which often contain little information to constrain point cloud registration, resulting in de…
Wireless communications in intelligent rail transit face harsh propagation conditions, including severe penetration loss, frequent blockages, and amplified large-scale fading. Existing leaky coaxial c…
Autonomous vehicles are increasingly deployed in safety-critical applications, where sensing failures or cyberphysical attacks can lead to unsafe operations resulting in human loss and/or severe physi…
Many problems in robotics require reasoning over a mix of continuous dynamics and discrete events, such as making and breaking contact in manipulation and locomotion. These problems are locally well m…
Accurate and continuous localization of Autonomous Underwater Vehicles (AUVs) in GPS-denied environments is a persistent challenge in marine robotics. In the absence of external position fixes, AUVs r…
Accurate state estimation for robotic systems evolving on Lie group manifolds, such as legged robots, is a prerequisite for achieving agile control. However, this task is challenged by nonlinear obser…
In this paper, we consider data-driven reconstruction of unknown inputs to linear time-invariant (LTI) multiple-input multiple-output (MIMO) systems. We propose a novel autoregressive estimator based …
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