Research
Research
Research
Research
443+ 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…
Supply chains involve geographically distributed manufacturing and assembly sites that must be coordinated under strict timing and resource constraints. While many existing approaches rely on Colored …
Hybrid physical systems combine continuous and discrete dynamics, which can be simultaneously affected by faults. Conventional fault detection methods often treat these dynamics separately, limiting t…
The concept of positively invariant (PI) sets has proven effective in the formal verification of stability and safety properties for autonomous systems. However, the characterization of such sets is c…
The system identification capabilities of a novel information-theoretic method are examined here. Specifically, this work uses information-theoretic metrics and vibration-based measurements to enhance…
The proverb ``see something, say something'' captures a core responsibility of autonomous mobile robots in safety-critical situations: when they detect a hazard, they must communicate--and do so quick…
This paper presents an off-axis, monolithic compliant Remote Center of Motion (RCM) joint for neuroendoscopic manipulation, combining near-isotropic stiffness with minimal parasitic motion. Based on t…
Neural networks (NNs) have gained significant attention across various engineering disciplines, particularly in design optimization, where they are used to build surrogate models for high-dimensional …
Visual-Inertial Odometry (VIO) is a staple for reliable state estimation on constrained and lightweight platforms due to its versatility and demonstrated performance. However, pertinent challenges reg…
Rapid identification of hazardous events is essential for next-generation Earth Observation (EO) missions supporting disaster response. However, current monitoring pipelines remain largely ground-cent…
The rapid aging of global populations has created an urgent need for intelligent healthcare monitoring systems to ensure the safety of elderly individuals living independently. Existing cloud-centric …
Positron emission tomography (PET) scans expose patients to radiation, which can be mitigated by reducing the dose, albeit at the cost of diminished quality. This makes low-dose (LD) PET recovery an a…
We propose DistGP: a multi-robot learning method for collaborative learning of a global function using only local experience and computation. We utilise a sparse Gaussian process (GP) model with a fac…
Reinforcement learning has achieved remarkable success in robot learning. However, under challenging exploration and contact-rich dynamics, early-stage training is frequently dominated by premature te…
The temporal and spatial analysis of river dynamics is a key factor for studying and understanding human impacts on floodplains. To assess the changes taking place, it is necessary to have high-resolu…
Precise volumetric delineation of hippocampal structures is essential for quantifying neurodevelopmental trajectories in pre-term and term infants, where subtle morphological variations may carry prog…
Opacity has emerged as a central confidentiality notion for information-flow security in discrete event systems (DES), capturing the requirement that an external observer (intruder) should never be ab…
Phased-array Bluetooth systems have emerged as a low-cost alternative for performing aided inertial navigation in GNSS-denied use cases such as warehouse logistics, drone landings, and autonomous dock…
Multi-static backscatter networks (BNs) are strong candidates for joint communication and localization in the ambient IoT paradigm for 6G. Enabling real-time localization in large-scale multi-static d…
Power system security assessments, e.g. via cascading outage models, often use operational set-points based on optimal power flow (OPF) dispatch. However, driven by cost minimization, OPF provides an …
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