Research
Research
Research
Research
87+ open-access research outputs.
This paper proposes and analyzes Riemannian optimization algorithms on the manifold of unitary and symmetric matrices, denoted ${\cal {U}}_s$, which naturally models the scattering matrices of passive…
This paper presents a novel method for estimating larger Region of Attractions (ROAs) for continuous-time nonlinear systems modeled via the Takagi-Sugeno (TS) framework. While classical approaches rel…
Deep learning models like U-Net and its variants, have established state-of-the-art performance in edge detection tasks and are used by Generative AI services world-wide for their image generation mod…
In this paper, we rigorously characterize for the first time the manifold of unitary and symmetric matrices, deriving its tangent space and its geodesics. The resulting parameterization of the geodesi…
Drones are becoming indispensable in many application domains. In data-driven missions, besides sensing, the drone must process the collected data at runtime to decide whether additional action must b…
Formal guarantees for cyber-physical systems (CPS) rely on diverse assumptions. If satisfied, these assumptions enable the transfer of abstract guarantees into real-world assurances about the deployed…
Motivation and gap: PID-family controllers remain a pragmatic choice for many robotic systems due to their simplicity and interpretability, but tuning stable, high-performing gains is time-consuming a…
Traditional exteroceptive sensors in mobile robots, such as LiDARs and cameras often struggle to perceive the environment in poor visibility conditions. Recently, radar technologies, such as ultra-wid…
Daily life support robots must interpret ambiguous verbal instructions involving demonstratives such as ``Bring me that cup,'' even when objects or users are out of the robot's view. Existing approach…
In autonomous underwater missions, the successful completion of predefined paths mainly depends on the ability of underwater vehicles to recognise their surroundings. In this study, we apply the conce…
Strawberry farming demands intensive labor for monitoring and maintaining plant health. To address this, Team SARAL develops an autonomous robot for the 2024 ASABE Student Robotics Challenge, capable …
This article investigates the robustness of rate-splitting multiple access (RSMA) in multi-user multiple-input single-output (MISO) systems to interference attacks against channel acquisition induced …
GARCH-type time series (characterized by Generalized Autoregressive Conditional Heteroskedasticity) exhibit pronounced volatility, autocorrelation, and heteroskedasticity. To address these challenges …
Optimal trajectories that minimize a user-defined cost function in dynamic systems require the solution of a two-point boundary value problem. The optimization process yields an optimal control sequen…
This paper explores the application of reinforcement learning to optimize the parameters of a Type-1 Takagi-Sugeno fuzzy controller, designed to operate as an artificial pancreas for Type 1 diabetes. …
To facilitate human-robot interaction and gain human trust, a robot should recognize and adapt to changes in human behavior. This work documents different human behaviors observed while taking objects…
Vertical take-off and landing (VTOL) unmanned aerial vehicles (UAVs) are versatile platforms widely used in applications such as surveillance, search and rescue, and urban air mobility. Despite their …
This study explores the design of a memory-based dynamic event-triggered mechanisms (DETM) scheme for heterogeneous multi-agent systems (MASs) characterized by interval type-2 Takagi-Sugeno (IT2 T-S) …
Distance functions are crucial in robotics for representing spatial relationships between a robot and its environment. They provide an implicit, continuous, and differentiable representation that inte…
This paper presents a novel approach to designing a Hedge Algebra Controller named Hedge Algebra Controller with Recursive Semantic Values (RS-HAC). This approach incorporates several newly introduced…
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