Research
Research
Research
Research
18+ open-access research outputs.
Differentiable simulators enable gradient-based optimization of soft robots over material parameters, control, and morphology, but accurately modeling real systems remains challenging due to the sim-t…
Factor graphs provide a convenient modular modeling language that enables practitioners to design and deploy high-performance robotic state estimation systems by composing simple, reusable building bl…
This paper presents a comprehensive refurbishment of the interactive robotic art installation Standards and Double Standards by Rafael Lozano-Hemmer. The installation features an array of belts suspen…
Low-order linear System IDentification (SysID) addresses the challenge of estimating the parameters of a linear dynamical system from finite samples of observations and control inputs with minimal sta…
Global bundle adjustment is made easy by depth prediction and convex optimization. We (i) propose a scaled bundle adjustment (SBA) formulation that lifts 2D keypoint measurements to 3D with learned de…
This paper presents an overview of the Burer-Monteiro method (BM), a technique that has been applied to solve robot perception problems to certifiable optimality in real-time. BM is often used to solv…
In 2019, the world faced a new challenge: a COVID-19 disease caused by the novel coronavirus, SARS-CoV-2. The virus rapidly spread across the globe, leading to a high rate of mortality, which prompted…
We have developed a parallel wire-driven monopedal robot, RAMIEL, which has both speed and power due to the parallel wire mechanism and a long acceleration distance. RAMIEL is capable of jumping high …
This paper addresses the Sensor Network Localization (SNL) problem using received signal strength. The SNL is formulated as an Euclidean Distance Matrix Completion (EDMC) problem under the unit ball s…
Legged robots with high locomotive performance have been extensively studied, and various leg structures have been proposed. Especially, a leg structure that can achieve both continuous and high jumps…
This paper considers a generalization of the Path Finding (PF) problem with refuelling constraints referred to as the Gas Station Problem (GSP). Similar to PF, given a graph where vertices are gas sta…
Distance measurements demonstrate distinctive scalability when used for relative state estimation in large-scale multi-robot systems. Despite the attractiveness of distance measurements, multi-robot r…
We investigate a class of general combinatorial graph problems, including MAX-CUT and community detection, reformulated as quadratic objectives over nonconvex constraints and solved via the alternatin…
Convex (specifically semidefinite) relaxation provides a powerful approach to constructing robust machine perception systems, enabling the recovery of certifiably globally optimal solutions of challen…
Currently there are several well-known approaches to non-intrusive appliance load monitoring rule based, stochastic finite state machines, neural networks and sparse coding. Recently several studies h…
In this study, we provided a scheduling procedure which is a combination of machine learning and mathematical programming that minimizes the waiting time of higher priority outpatients. Outpatients wh…
This paper addresses a fuel-constrained, autonomous vehicle path planning problem in the presence of multiple refueling stations. We are given a set of targets, a set of refueling stations, and a depo…
Robots have a finite supply of resources such as fuel, battery charge, and storage space. The aim of the Stochastic Collection and Replenishment (SCAR) scenario is to use dedicated agents to refuel, r…
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