Research
Research
Research
Research
1,564+ open-access research outputs.
We present a unifying Nearly Asymptotically Invariant Manifold (NAIM) framework for understanding Nesterovs Accelerated Gradient (NAG) method. By lifting the first-order gradient flow into a second-or…
Generative motion prediction must satisfy three simultaneous requirements for real-world autonomy: high accuracy, diverse multimodal futures, and strictly bounded latency. Diffusion models meet the fi…
Reliable and secure communication is essential for mission-critical aerospace and defence operations involving autonomous platforms such as Unmanned Aerial Vehicles (UAVs), satellites, and ground cont…
Monitoring sea states across the offshore wind farm areas is essential to keep their structures safe, efficiently operate the systems, and assess the environmental effects of wind turbines. Convention…
In practical early-stage battery-electric vehicle studies, analysis workflows may become fragmented across spreadsheets, notebooks, and project-specific scripts, making reuse, audit, and extension har…
Deploying neural-network control barrier functions (CBFs) on embedded hardware requires evaluating the barrier value and its Lie derivatives along the system vector fields at every control cycle. The …
Radar-Inertial Odometry (RIO) based on the Extended Kalman Filter (EKF) relies on accurate extrinsic calibration between the radar and the Inertial Measurement Unit (IMU) and is sensitive to disturban…
We present principles of algebraic diversity (AD), a group-theoretic approach to signal processing exploiting signal symmetry to extract more information per observation, complementing classical metho…
In this letter, we propose a sparsification method for precoding codebooks that reduces the peak-to-average power ratio (PAPR) while preserving the achievable rate. By exploiting the fact that precode…
This paper addresses the problem of adaptive reconfigurable intelligent surfaces (RIS) configuration design for user localization in rich-scattering environment (RSE), where electromagnetic waves unde…
Series and parallel elastic actuators offer complementary but mutually exclusive advantages, yet no existing actuator enables real-time transition between these topologies during operation. This paper…
Kalman filter-based algorithms are fundamental for mobile robots, as they provide a computationally efficient solution to the challenging problem of state estimation. However, they rely on two main as…
Open Radio Access Network (O-RAN) is an important 5G network architecture enabling flexible communication with adaptive strategies for different verticals. However, testing for O-RAN deployments invol…
Open Radio Access Network (O-RAN) architectures enhance flexibility for 6G and NextG networks. However, it also brings significant challenges in O-RAN testing with evaluating abundant, high-dimensiona…
Rapid growth in electric-vehicle (EV) charging demand is placing increasing stress on distribution power networks (DPNs), whose hosting capacity is often limited and spatially uneven. Beyond demonstra…
Many problems in robotics require reasoning over a mix of continuous dynamics and discrete events, such as making and breaking contact in manipulation and locomotion. These problems are locally well m…
Accurate state estimation for robotic systems evolving on Lie group manifolds, such as legged robots, is a prerequisite for achieving agile control. However, this task is challenged by nonlinear obser…
As computational complexity in electromagnetics increases with frequency, full-wave solvers become computationally infeasible for electrically large problems. To address this limitation, we present a …
In the last decades, energy-based models (EBMs) have become an important class of probabilistic models in which a component of the likelihood is intractable and therefore cannot be evaluated explicitl…
In this paper, we consider data-driven reconstruction of unknown inputs to linear time-invariant (LTI) multiple-input multiple-output (MIMO) systems. We propose a novel autoregressive estimator based …
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