Research
Research
Research
Research
203+ open-access research outputs.
Sub-gram flapping-wing flying insect robots (FIRs) are challenging to model because of mechanical complexity in their wings, unsteady aerodynamic flow, and the difficulty of making precise measurement…
Developing autonomous physical human-robot interaction (pHRI) systems is limited by the scarcity of large-scale training data to learn robust robot behaviors for real-world applications. In this paper…
In this manuscript, we propose a novel optimal Global Navigation Satellite System (GNSS) time tracking algorithm to collectively steer an ensemble consisting of synchronising miniature atomic clocks t…
Distributed multiple-input multiple-output (MIMO) architectures enable large-scale integrated sensing and communication (ISAC) by providing high spatial resolution and robustness through spatial diver…
We propose a reachability-based framework for reliable LLM-guided human-autonomy teaming (HAT) using signal temporal logic (STL). In the proposed framework, LLM is leveraged as a translator that trans…
The recently introduced notions of ranking functions and closure certificates utilize well-foundedness arguments to facilitate the verification of dynamical systems against $\omega$-regular properties…
Practical aspects of orthogonal time frequency space (OTFS), such as channel estimation and its performance in fractional delay-Doppler (DD) channels, are a lively topic in the OTFS community. Oversam…
Robotic systems operating in dynamic and uncertain environments increasingly require planners that satisfy complex task sequences while adhering to strict temporal constraints. Metric Interval Tempora…
This paper investigates the feasibility of deploying private 5G networks in hospital environments, with a focus on the operating room at the brand new Oulu University Hospital, Finland. The study aims…
When performing 3D manipulation tasks, robots have to execute action planning based on perceptions from multiple fixed cameras. The multi-camera setup introduces substantial redundancy and irrelevant …
Finite abstractions are discrete approximations of dynamical systems, such that the set of abstraction trajectories contains all system trajectories. There is a consensus that abstractions suffer from…
Linear Temporal Logic (LTL) provides a rigorous framework for complex robotic tasks, yet existing methods often rely on accurate dynamics models or expensive online interactions. In this work, we addr…
Safe planning of an autonomous agent in interactive environments -- such as the control of a self-driving vehicle among pedestrians and human-controlled vehicles -- poses a major challenge as the beha…
Language-audio joint representation learning frameworks typically depend on deterministic embeddings, assuming a one-to-one correspondence between audio and text. In real-world settings, however, the …
We present Voice Evaluation of Reasoning Ability (VERA), a benchmark for evaluating reasoning ability in voice-interactive systems under real-time conversational constraints. VERA comprises 2,931 voic…
State-of-the-art anomalous sound detection (ASD) systems in domain-shifted conditions rely on projecting audio signals into an embedding space and using distance-based outlier detection to compute ano…
A key challenge in abstraction-based verification and control under complex specifications such as Linear Temporal Logic (LTL) is that abstract models retain significantly less information than their …
Real power systems exhibit dynamics that evolve across a wide range of time scales, from very fast to very slow phenomena. Historically, incorporating these wide-ranging dynamics into a single model h…
Many countries' policies have shifted rapidly towards using renewable energy for climate reasons. As a result, inverter-based resources are beginning to dominate power systems. Key elements for managi…
Percutaneous Coronary Intervention (PCI) is a minimally invasive procedure that improves coronary blood flow and treats coronary artery disease. Although PCI typically requires 2D X-ray angiography (X…
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