Research
Research
Research
Research
4,210+ 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 proposes a bitwise over-parameterized neural network (ONN) decoder for polar-coded transmission and develops a tractable theoretical performance analysis framework. By modeling each synthes…
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…
We present the Field of Safe Motion (FSM), a quantitative safety model for determining whether a driver maintains a collision-free escape route, or "out," at any given moment by accounting for that dr…
Large 3D SIMP studies require repeated elasticity solves for density-dependent operators whose finest matrices are expensive to assemble and whose conditioning degrades under high contrast. We study t…
In this paper, we introduce GET-2D-1.0, a fast grasp planner for the GET asymmetrical gripper that operates from a single-view RGB-D image, using the Ferrari-Canny metric and a novel sampling strategy…
Robot-assisted Transcranial Magnetic Stimulation (Robo-TMS) is an image-guided robotic intervention that enhances the accuracy and reproducibility of conventional Transcranial Magnetic Stimulation (TM…
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…
This work presents GS-DOT, a novel image reconstruction framework based on Gaussian Splatting (GS) for diffuse optical tomography (DOT). Inspired by GS for rendering applications, absorption coefficie…
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…
Gadoxetate disodium-enhanced MRI is essential for the detection and characterization of hepatocellular carcinoma. However, acquisition of the hepatobiliary phase (HBP) requires a prolonged post-contra…
Industrial robots are widely used in manufacturing, yet most manipulation still depends on fixed waypoint scripts that are brittle to environmental changes. Learning-based control offers a more adapti…
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…
This paper presents a personalized Battery Electric Vehicle (BEV) energy consumption estimation framework that integrates map-based contextual features with driver-specific velocity prediction and phy…
We develop a wildfire simulation model that evolves the temperature scalar field using an energy balance equation accounting for heat generation, transport, and loss. For these equations, we develop q…
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…
Data detection in large-scale multiple-input multiple-output (MIMO) systems with higher-order quadrature amplitude modulation (QAM) remains a challenging problem due to the exponential complexity of t…
Determining the optimal phase configurations of reconfigurable intelligent surface (RIS) elements typically requires complex channel estimation procedures with high pilot overhead, creating a bottlene…
What appears effortless to a human waiter remains a major challenge for robots. Manipulating objects nonprehensilely on a tray is inherently difficult, and the complexity is amplified in dual-arm sett…
Standard risk models reduce the rich dependence structure of financial markets to scalar volatility estimates, discarding the topological information encoded in cross-asset correlation networks. We pr…
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