Research
Research
Research
Research
1,315+ 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…
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…
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…
Goal-conditioned navigation models for ground robots trained using supervised learning show promising zero-shot transfer, but their collision-avoidance capability nevertheless degrades under distribut…
Bitcoin transaction fees will become more important as the block subsidy declines, but fee formation is hard to study with blockchain data alone because the relevant queueing environment is unobserved…
Ensuring strict safety guarantees is the paramount challenge for emerging 5G/6G wireless systems, particularly as they increasingly govern mission-critical applications ranging from autonomous UAV swa…
Autonomous robots operating in natural karstic caves face perception and navigation challenges that are qualitatively distinct from those encountered in mines or tunnels: irregular geometry, reflectiv…
Navigating dense, lane-less traffic remains one of the most challenging scenarios for autonomous vehicles, especially in emerging regions where road structure and driver behavior are highly unpredicta…
Non-minimum-phase (NMP) zeros in multi-converter power systems impose bandwidth ceilings on feedback control, yet quantifying them at the system level has been impractical because commercial converter…
We present 3D-Anchored Lookahead Planning (3D-ALP), a System 2 reasoning engine for robotic manipulation that combines Monte Carlo Tree Search (MCTS) with a 3D-consistent world model as the rollout or…
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…
Electrodermal activity (EDA) is a widely used physiological signal for assessing sympathetic nervous activity, such as arousal, stress, and pain. However, reliable decomposition into tonic and phasic …
As robots increasingly operate in shared, safety critical environments, acting safely is no longer sufficient robots must also make their safety decisions intelligible to human collaborators. In human…
Granular flows govern many natural and industrial processes, yet their interior kinematics and mechanics remain largely unobservable, as experiments access only boundaries or free surfaces. Convention…
This paper presents Residual Koopman MPC (RK-MPC), a Koopman-based, data-driven model predictive control framework for quadruped locomotion that improves prediction fidelity while preserving real-time…
Topology optimization is used for the design of high-performance structures but remains fundamentally limited by its iterative nature, requiring repeated finite element analyses that prevent real-time…
Learning high-performance control policies that remain consistent with expert behavior is a fundamental challenge in robotics. Reinforcement learning can discover high-performing strategies but often …
Renewable power sources have low marginal pro-duction costs, but may result in high balancing costs due to the inherent production uncertainty. Current day-ahead markets elicit only point production p…
Human driver participation is a critical source of uncertainty in Mobility-on-Demand (MoD) rebalancing. Drivers follow platform recommendations probabilistically, and their willingness to comply evolv…
Hand impairment following neurological disorders substantially limits independence in activities of daily living, motivating the development of effective assistive and rehabilitation strategies. Soft …
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