Research
Research
Research
Research
1,088+ open-access research outputs.
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 addresses the problem of traffic congestion management in fixed-wing unmanned aerial vehicle (UAV) corridors by further developing a recently introduced loiter-lane framework. A semi-cooper…
The emerging deep learning (DL) technology has recently exhibited great potential in data-driven short-term voltage stability (SVS) assessment of complex power grids. However, without sufficient atten…
Sub-gram flapping-wing flying insect robots (FIRs) are challenging to model because of mechanical complexity in their wings, unsteady aerodynamic flow, and the difficulty of making precise measurement…
Multi-robot control in cluttered environments is a challenging problem that involves complex physical constraints, including robot-robot collisions, robot-obstacle collisions, and unreachable motions.…
Autonomous fixed-wing flight is becoming a key capability in aerial robotics, enabling sensing, mobility, and contingency operations across both small-scale Uncrewed Aircraft Systems and large-scale A…
Accurate antenna array calibrations and measurements of aspects such as active element pattern (AEP) are critical for enabling integrated sensing and communication (ISAC) technologies such as directio…
This paper presents a model-based reinforcement learning (RL) framework for optimal closed-loop control of nonlinear robotic systems. The proposed approach learns linear lifted dynamics through Koopma…
Aerobat is a bat-inspired flapping-wing robot with a wing gait generate by the computational structure, a planar linkage of carbon fiber links driven by a single motor. This design minimizes weight bu…
Human behavior has the nature of mutual dependencies, which requires human-robot interactive systems to predict surrounding agents trajectories by modeling complex social interactions, avoiding collis…
Instruction-following text-to-speech (TTS) has emerged as an important capability for controllable and expressive speech generation, yet its evaluation remains underdeveloped due to limited benchmark …
Automotive 4D imaging radar is well suited for operation in dusty and low-visibility environments, but scan registration remains challenging due to scan sparsity and spurious detections caused by nois…
Maintaining stable internal representations of continuous variables is fundamental for effective robotic control. Continuous attractor networks provide a biologically inspired mechanism for encoding s…
One of the concerns with autonomous vehicles is their ability to communicate their intent to other road users, specially pedestrians, in order to prevent accidents. External Human-Machine Interfaces (…
Multi-modal image registration plays a critical role in precision medicine but faces challenges from non-linear intensity relationships and local optima. While deep learning models enable rapid infere…
Noisy speech separation systems are typically trained on fully-synthetic mixtures, limiting generalization to real-world scenarios. Though training on mixtures of in-domain (thus often noisy) speech i…
Spatial single-loop mechanisms such as Bennett linkages offer a unique combination of one-degree-of-freedom actuation and nontrivial spatial trajectories, making them attractive for lightweight bio-in…
High-performance piezoelectric resonators are promising energy storage elements for piezoelectric power conversion due to their compact footprint and low loss at frequencies where conventional magneti…
Industrial control systems (ICSs) often consist of many legacy devices, which were designed without security requirements in mind. With the increase in cyberattacks targeting critical infrastructure, …
This paper presents a reinforcement learning-based path-following controller for a fixed-wing small uncrewed aircraft system (sUAS) that is robust to certain actuator failures. The controller is condi…
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