Research
Research
Research
Research
1,625+ open-access research outputs.
Understanding human actions is critical for advancing behavior analysis in human-robot interaction. Particularly in tasks that demand quick and proactive feedback, robots must recognize human actions …
Wave-driven desalination systems are an innovative solution to the global freshwater crisis, leveraging the complementary characteristics of seawater reverse osmosis and wave energy converters. Howeve…
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…
Under the 6G wireless network evolution, the low-altitude Internet of Things (IoT), supported by unmanned aerial vehicles (UAVs) with Integrated Sensing and Communication (ISAC) capabilities, provides…
In this paper, we aim to extend the traditional point-mass-like robot representation in swarm robotics and instead study a swarm of long Heavy Articulated Vehicles (HAVs). HAVs are kinematically const…
A trapping region is a compact set that is forward invariant with respect to the dynamics. Existence of a trapping region certifies boundedness of trajectories, and the size of the set provides an est…
This paper presents a two-stage trajectory planning framework for a multi-UAV rigid-payload cascaded transportation system, aiming to address planning challenges in densely cluttered environments. In …
The globally optimal robust adaptive beamforming (RAB) solution is studied for worst-case signal-to-interference-plus-noise ratio (SINR) maximization (the maximin SINR problem) under convex and closed…
Cardiovascular diseases account for around 17.9 million deaths per year globally, the treatment of which is challenging considering the confined space and complex topology of the vascular network and …
This paper develops an entropy-based stability and robustness framework for nonlinear hypergraph dynamics with conservation and flow balance. We consider generator-form systems on the simplex whose st…
Audio and speech self-supervised encoder models are now widely used for a lot of different tasks. Many of these models are often trained on clean segmented speech content such as LibriSpeech. In this …
Robotic manipulation with deformable objects represents a data-intensive regime in embodied learning, where shape, contact, and topology co-evolve in ways that far exceed the variability of rigids. Al…
Large language models (LLMs) have recently demonstrated strong potential for autonomous vehicle motion planning by reformulating trajectory prediction as a language generation problem. However, deploy…
Embodied-AI agents must reason about how objects move and interact in 3-D space over time, yet existing smaller frontier Large Language Models (LLMs) still mis-handle fine-grained spatial relations, m…
We study local sensitivity of structured ARX-based data-driven predictive control. Although predictor estimation is linear in the ARX parameters, the lifted multi-step predictor used in MPC depends on…
We study online task allocation for multi-robot, multi-queue systems with asymmetric stochastic arrivals and switching delays. We formulate the problem in discrete time: each location can host at most…
Control barrier functions (CBFs) provide a principled framework for enforcing safety in control systems -- yet the certified safe operating region in practice is often conservative, especially under i…
In this work, we revisit the discrete-time Schr\"{o}dinger Bridge (SB) and Density Steering (DS) problems for Gaussian mixture model (GMM) boundary distributions. Building on the existing literature, …
We present a computationally tractable framework for real-time predictive control of multi-chiller plants that involve both discrete and continuous control decisions coupled through nonlinear dynamics…
The rapid growth of GPU-heavy data centers has significantly increased electricity demand and creating challenges for grid stability. Our paper investigates the extent to which an energy-aware job sch…
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