Research
Research
Research
Research
234+ open-access research outputs.
Dense, dynamic crowds pose a persistent challenge for autonomous mobile robots. Purely reactive planning methods, such as Model Predictive Path Integral (MPPI) control, often fail to escape local mini…
Inspired by the human ability to understand and predict others, we study the applicability of Conditional Neural Processes (CNP) to the task of self-supervised multimodal action prediction in robotics…
This paper describes a multi-region control framework for floating offshore wind farms. Specifically, we propose a novel generator torque controller that regulates rotor speed in Region 2, correspondi…
Precise control of lower limb exoskeletons during sit-to-stand (STS) transitions remains a central challenge in rehabilitation robotics owing to the highly nonlinear, time-varying dynamics of the huma…
Realistic lip synchronization is essential for the natural human-robot non-verbal interaction of humanoid robots. Motivated by this need, this paper presents a lip motion generation framework based on…
Stable traversal over geometrically complex terrain increasingly requires exteroceptive perception, yet prior perceptive humanoid locomotion methods often remain tied to explicit geometric abstraction…
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…
Integrating silicone with non-extensible materials is a common strategy used in the fabrication of fluidically-driven soft actuators, yet conventional approaches often rely on irreversible adhesives o…
Shared autonomy blends operator intent with autonomous assistance. In cluttered environments, linear blending can produce unsafe commands even when each source is individually collision-free. Many exi…
Despite progress, Vision-Language-Action models (VLAs) are limited by a scarcity of large-scale, diverse robot data. While human manipulation videos offer a rich alternative, existing methods are forc…
Sea ice dynamics are crucial to the global climate system, yet traditional continuum (e.g., viscous-plastic) models often fail to represent the discrete floe interactions that dominate in the marginal…
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…
Understanding self-organization in natural collectives such as bird flocks inspires swarm robotics, yet most flocking models remain reactive, overlooking anticipatory cues that enhance coordination. M…
This paper presents an experimental study of a path-tracking framework for autonomous vehicles in which the lateral control command is applied to a dynamic control point along the wheelbase. Instead o…
Shared autonomy systems require principled methods for inferring user intent and determining appropriate assistance levels. This is a central challenge in human-robot interaction, where systems must b…
This paper develops certificates that propagate compatibility of multiple control barrier function (CBF) constraints from sampled vertices to their convex hull. Under mild concavity and affinity assum…
This work addresses the challenge of safe and efficient mobile robot navigation in complex dynamic environments with concave moving obstacles. Reactive safe controllers like Control Barrier Functions …
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…
A single service robot can present two distinct agencies: its onboard autonomy and an operator-mediated agency, yet users experience them through one physical body. We formalize this dual-agency struc…
A common assumption when applying the Kalman filter is a priori knowledge of the system parameters. These parameters are not necessarily known, and this may limit real-world applications of the Kalman…
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