Research
Research
Research
Research
802+ open-access research outputs.
Large 3D SIMP studies require repeated elasticity solves for density-dependent operators whose finest matrices are expensive to assemble and whose conditioning degrades under high contrast. We study t…
While Central Pattern Generators (CPGs) and Multi-Layer Perceptrons (MLP) are widely used paradigms in robot control, few systematic studies have been performed on the relative merits of large paramet…
Aerobat is a bat-inspired flapping-wing robot with a wing gait generate by the computational structure, a planar linkage of carbon fiber links driven by a single motor. This design minimizes weight bu…
Oil spills represent a severe threat, making early-stage thickness estimation crucial for guiding remediation efforts. Unmanned Aerial Vehicles (UAVs) are an attractive platform for environmental moni…
Singular configurations cause loss of task-space mobility, unbounded joint velocities, and solver divergence in inverse kinematics (IK) for serial manipulators. No existing survey bridges classical si…
One of the concerns with autonomous vehicles is their ability to communicate their intent to other road users, specially pedestrians, in order to prevent accidents. External Human-Machine Interfaces (…
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…
Convolutional neural networks (CNNs) have emerged as a powerful tool for automatic modulation classification (AMC) by directly extracting discriminative features from raw in-phase and quadrature (I/Q)…
Sparse Bayesian Learning is one of the most popular sparse signal recovery methods, and various algorithms exist under the SBL paradigm. However, given a performance metric and a sparse recovery probl…
Audio-Visual Speech Recognition (AVSR) systems nowadays integrate Large Language Model (LLM) decoders with transformer-based encoders, achieving state-of-the-art results. However, the relative contrib…
The Linear Parameter-Varying (LPV) framework enables the construction of surrogate models of complex nonlinear and high-dimensional systems, facilitating efficient stability and performance analysis t…
Diffusion models are increasingly used for robot learning, but current designs face a clear trade-off. Action-chunking diffusion policies like ManiCM are fast to run, yet they only predict short segme…
Human-robot interaction is increasingly moving toward multi-robot, socially grounded environments. Existing systems struggle to integrate multimodal perception, embodied expression, and coordinated de…
Uncrewed aerial vehicles (UAVs) are expected to enhance connectivity, extend network coverage, and support advanced communication services in sixth-generation (6G) cellular networks, particularly in p…
This work presents a comprehensive benchmark evaluation of visual odometry (VO) and visual SLAM (VSLAM) systems for mobile robot navigation in real-world logistical environments. We compare multiple v…
Agricultural robotics has emerged as a critical solution to the labor shortages and rising costs associated with manual crop harvesting. Bell pepper harvesting, in particular, is a labor-intensive tas…
Diffusion-based image compression has recently shown outstanding perceptual fidelity, yet its practicality is hindered by prohibitive sampling overhead and high memory usage. Most existing diffusion c…
Stacked intelligent metasurfaces (SIMs) represent a breakthrough in wireless hardware by comprising multilayer, programmable metasurfaces capable of analog computing in the electromagnetic (EM) wave d…
The phase-field approach to brittle fracture provides a continuum framework for modeling crack initiation and propagation without explicit representation of discrete crack surfaces, provided the spati…
Adversarial perturbations exploit vulnerabilities in automatic speech recognition (ASR) systems while preserving human perceived linguistic content. Neural audio codecs impose a discrete bottleneck th…
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