Research
Research
Research
Research
9,701+ open-access research outputs.
This paper addresses the problem of output-feedback covariance steering for stochastic, discrete-time, linear, time-invariant systems without knowledge of the system model. We employ a controllable, n…
It has recently been shown that the evolution of a state, described by a Partial Differential Equation (PDE), can be more conveniently represented as the evolution of the state's highest spatial deriv…
We develop a unified Fisher-information framework for localization in environments with both Line-of-Sight (LOS) and Non-Line-of-Sight (NLOS) paths, focusing on diffraction-dominated NLOS propagation …
We propose a hybrid reinforcement learning (RL) and model predictive control (MPC) framework for mixed-integer optimal control, where discrete variables enter the cost and dynamics but not the constra…
With the rise of vision-language models (VLM), their application for autonomous driving (VLM4AD) has gained significant attention. Meanwhile, in autonomous driving, closed-loop evaluation has become w…
Hand impairment following neurological disorders substantially limits independence in activities of daily living, motivating the development of effective assistive and rehabilitation strategies. Soft …
Computing the effective resistance between nodes in finite discrete resistor grids is a classical problem in circuit analysis with applications in VLSI power delivery network analysis, graph theory, a…
As zero-emission zones emerge in European cities, fleet operators are shifting to electric vehicles. To maintain their current operations, a clear understanding of the charging infrastructure required…
This paper presents an online linear model predictive control (MPC) framework for slew maneuvers that maintains star-tracker availability during ground-target tracking. The nonlinear rigid-body dynami…
This paper studies tracking of collision-free waypoint paths produced by an offline planner for a planar double-integrator system with bounded speed and acceleration. Because sampling-based planners m…
This paper studies safety-critical control for nonlinear systems under sampled-data implementations of the controller. The recently proposed Taylor--Lagrange Control (TLC) method provides rigorous saf…
This paper presents a state- and control-dependent moving-horizon estimation (SCD-MHE) algorithm for nonlinear discrete-time systems. Within this framework, a pseudo-linear representation of nonlinear…
The HEALthy Brain and Childhood Development (HBCD) Study is an ongoing longitudinal initiative to understand population-level brain maturation; however, large-scale studies must overcome site-related …
Electrification of marine transport is a promising solution to reduce sector greenhouse gas emissions and operational costs. However, the large upfront cost of electric vessels and the required chargi…
The development of Vision-Language-Action (VLA) models has been significantly accelerated by pre-trained Vision-Language Models (VLMs). However, most existing end-to-end VLAs treat the VLM primarily a…
Wearable robots aim to seamlessly adapt to humans and their environment with personalized interactions. Existing supernumerary robotic limbs (SRLs), which enhance the physical capabilities of humans w…
The increasing capabilities of machine learning models, such as vision-language and multimodal language models, are placing growing demands on data in automotive systems engineering, making the qualit…
We present a dual Model Predictive Control (MPC) framework for the simultaneous identification and control of quasi-Linear Parameter Varying (qLPV) systems. The framework is composed of an online esti…
Dexterous hand teleoperation requires motion re-targeting methods that simultaneously achieve high-frequency real-time performance and enforcement of heterogeneous kinematic and safety constraints. Ex…
Project VAANI is an initiative to create an India-representative multi-modal dataset that comprehensively maps India's linguistic diversity, starting with 165 districts across the country in its first…
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