Research
Research
Research
Research
819+ open-access research outputs.
The assessment of reactive power demand plays an instrumental role in power system planning. This paper presents a methodology for calculating reactive power demand based on a two-step approach. Unlik…
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…
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 …
Multi-UAV inspection missions require spare drones to replace active drones during recharging cycles. Existing fleet-sizing approaches often assume steady-state operating conditions that do not apply …
Multimodal federated learning enables privacy-preserving collaborative model training across healthcare institutions. However, a fundamental challenge arises from modality heterogeneity: many clinical…
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…
The online 3D bin packing problem is important in logistics, warehousing and intelligent manufacturing, with solutions shifting to deep reinforcement learning (DRL) which faces challenges like low sam…
We study the nonlinear inverse problem arising in Temporal CT, a multi-source computed-tomography architecture in which NS = 3 simultaneously active X-ray sources produce M = 5 mixed Poisson intensity…
In 1956 John Kelly wrote a paper at Bell Labs describing the relationship between gambling and Information Theory. What came to be known as the Kelly Criterion is both an objective and a closed-form s…
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…
Reliable, affordable electricity remains inaccessible to over 600 million people in sub-Saharan Africa (SSA), where islanded hybrid microgrids combining renewable generation, battery storage, and dies…
Image Goal Navigation (ImageNav) is evaluated by a coarse success criterion, the agent must stop within 1m of the target, which is sufficient for finding objects but falls short for downstream tasks s…
Bin picking in real industrial environments remains challenging due to severe clutter, occlusions, and the high cost of traditional 3D sensing setups. We present Pickalo, a modular 6D pose-based bin-p…
Sensor spoofing analysis in cyber-physical systems is predominantly confined to linear state spaces, where attack transferability is trivial. On Lie groups, however, the noncommutativity of the dynami…
We show that dynamic coordination of distributed energy resources (DERs) can increase the capacity of low- and medium-voltage grids, improve reliability and power quality, and reduce solar curtailment…
The deployment of multiple transmitters (TXs) in integrated sensing and communication (ISAC) networks necessitates efficient resource sharing to overcome the limitations of orthogonal allocation. Whil…
In this paper, we propose a learning framework for synthesizing a robust controller for dynamical systems evolving on a Lie group. A robust control contraction metric (RCCM) and a neural feedback cont…
The design of distributed autonomous systems for operation beyond reliable ground contact presents a fundamental tension: as round-trip communication latency grows, the set of decisions delegable to g…
Mudskippers are unique amphibious fish capable of locomotion in diverse environments, including terrestrial surfaces, aquatic habitats, and highly viscous substrates such as mud. This versatile locomo…
Material awareness can improve robotic navigation and interaction, particularly in conditions where cameras and LiDAR degrade. We present a lightweight mmWave radar material classification pipeline de…
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