Research
Research
Research
Research
96+ open-access research outputs.
In multi-agent systems, should limited resources be concentrated into a few capable agents or distributed among many simpler ones? This work formulates the split over $n$ resource sharing problem wher…
Surround-view perception is increasingly important for robotic navigation and loco-manipulation, especially in human-in-the-loop settings such as teleoperation, data collection, and emergency takeover…
A tube-based safety framework is presented for robust anticipative tracking in nonlinear Brunovsky multi-agent systems subject to bounded disturbances. The architecture establishes robust safety certi…
Percentage Brain Volume Change (PBVC) derived from Magnetic Resonance Imaging (MRI) is a widely used biomarker of brain atrophy, with SIENA among the most established methods for its estimation. Howev…
Soft pneumatic actuators enable safe human-machine interaction with lightweight and powerful applied parts. On the other side, they suffer design limitations as regards complex actuation patterns, inc…
We have developed a compressed neighbor list for short-range particle-particle interaction based on a space- filling curve (SFC) memory layout and particle clusters. The neighbor list can be construct…
Advanced robotic manipulation of deformable, volumetric objects remains one of the greatest challenges due to their pliancy, frailness, variability, and uncertainties during interaction. Motivated by …
This paper primarily considers the robust estimation problem under Wasserstein distance constraints on the parameter and noise distributions in the linear measurement model with additive noise, which …
We present the AgriCruiser, an open-source over-the-row agricultural robot developed for low-cost deployment and rapid adaptation across diverse crops and row layouts. The chassis provides an adjustab…
In this letter, a single-layer dual-band flexible conformal filtering endfire antenna is presented. The proposed antenna is based on two co-designed folded dipoles (FDs) working at two frequencies, wh…
We study a problem of multi-agent exploration with behaviorally heterogeneous robots. Each robot maps its surroundings using SLAM and identifies a set of areas of interest (AoIs) or frontiers that are…
In recent years, wheeled bipedal robots have garnered significant attention due to their exceptional mobility on flat terrain. However, while stair climbing has been achieved in prior studies, these e…
The increasing congestion of Low Earth Orbit (LEO) poses persistent challenges to the efficient deployment and safe operation of Earth observation satellites. Mission planners must now account not onl…
We present an evolved steerable version of the single-tail Fish-&-Ribbon-Inspired Small Swimming Harmonic roBot (FRISSHBot), a 59-mg biologically inspired swimmer, which is driven by a new shape-memor…
Real-time planning among many uncertain, dynamic obstacles is challenging because predicting every agent with high fidelity is both unnecessary and computationally expensive. We present Heterogeneous …
Robot swarms offer the potential to serve a variety of distributed sensing applications. An interesting real-world application that stands to benefit significantly from deployment of swarms is structu…
Navigation and inspection in confined environments, such as tunnels and pipes, pose significant challenges for existing robots due to limitations in maneuverability and adaptability to varying geometr…
Classical Cellular Automata (CCAs) are a powerful computational framework for modeling global spatio-temporal dynamics with local interactions. While CCAs have been applied across numerous scientific …
Spiders use their webs as multifunctional tools that enable capturing and localizing prey and more general environmental sensing through vibrations. Inspired by their biological function, we present a…
Anatomical trees play an important role in clinical diagnosis and treatment planning. Yet, accurately representing these structures poses significant challenges owing to their intricate and varied top…
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