Research
Research
Research
Research
9,190+ open-access research outputs.
As autonomous vehicles slowly deploy into urban roads for limited use cases with significant edge case issues, closed facilities like marshaling yards provide a ripe case for combining lower-level veh…
This paper presents an expert-guided active-inference-inspired framework for adaptive UAV swarm trajectory planning. The proposed method converts multi-UAV trajectory design from a repeated combinator…
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 discusses null-space wrench components in parallel manipulators. We examine the adaptation of the two most common characterizations of these components in grasp-like systems, namely, intera…
Cooperative integrated sensing and communication (ISAC) based on orthogonal frequency-division multiplexing (OFDM) enables network-wide sensing by exploiting the spatial diversity of multi-base-statio…
Nuclear fusion is a promising clean energy source in which deuterium and tritium fuse inside a magnetically confined plasma in a tokamak, releasing energy. A key challenge on the route to practical nu…
In multi-agent systems, should limited resources be concentrated into a few capable agents or distributed among many simpler ones? This work formulates the split over $n$ resource sharing problem wher…
Objective metrics for emotional expressiveness are vital for speech generation, particularly in expressive synthesis and voice conversion requiring emotional prosody transfer. To quantify this, the fi…
We aim to learn a sparse and connected graph from sparse data, where the number of observations K can be substantially smaller than the signal dimension N for signals x in R^N, and the underlying dist…
Monitoring sea states across the offshore wind farm areas is essential to keep their structures safe, efficiently operate the systems, and assess the environmental effects of wind turbines. Convention…
Despite transformative advances in generative motion synthesis, real-time interactive motion control remains dominated by traditional techniques. In this work, we identify two key challenges in bridgi…
This paper presents a unified control framework for robust trajectory tracking and moving obstacle avoidance applicable to a broad class of mobile robots. By formulating a generalized kinematic transf…
Training machine learning models for robotic tactile sensing requires vast amounts of data, yet obtaining realistic interaction data remains a challenge due to physical complexity and variability. Sim…
Automated vehicles (AVs) are commonly programmed to yield unconditionally to pedestrians in the interest of safety. However, this design choice can give rise to the Freezing Robot Problem in which ped…
In multi-agent systems, heterogeneous time delays exist for all agents because of the difference in communication environments. Therefore, the consensus analysis of a system considering a homogeneous …
We present Move-Then-Operate, a Vision language action framework that explicitly decouples robotic manipulation into two distinct behavioral phases: coarse relocation (move) and contact-critical inter…
Humanoid robots operating in unstructured environments must recover from unexpected disturbances-a capability that remains challenging for end-to-end control policies. We present RECOVERFORMER, a full…
We investigate the problem of jointly testing a pair of composite hypotheses and, depending on the test result, estimating a random parameter under distributional uncertainties. Specifically, it is as…
Ensuring safety for black-box hybrid dynamical systems presents significant challenges due to their instantaneous state jumps and unknown explicit nonlinear dynamics. Existing solutions for strict saf…
Independent component analysis (ICA) estimates a demixing matrix that can recover statistically independent sources from linear mixtures. FastICA is a popular ICA algorithm due to its efficiency, but …
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