Research
Research
Research
Research
291+ open-access research outputs.
In this article, we propose a simple and efficient hyperreduced strain-space model order reduction (MOR) approach for hyperelastic representative volume elements (RVEs), called Empirical Material Samp…
Obstacle avoidance is a fundamental vision-based task essential for enabling quadrotors to perform advanced applications. When planning the trajectory, existing approaches both on optimization and lea…
Physics-informed neural networks (PINNs) have shown promise for solving partial differential equations (PDEs) by directly embedding them into the loss function. Despite their notable success, existing…
A method for trajectory smoothing for UAV reference path planning is presented. It is derived based on the dynamics of a Dubins airplane model, and involves a decoupling step, spatial modeling and lin…
Composing coherent long-form music remains a significant challenge due to the complexity of modeling long-range dependencies and the prohibitive memory and computational requirements associated with l…
Affine frequency division multiplexing (AFDM) and orthogonal time frequency space (OTFS) are two promising advanced waveforms proposed for reliable communications in high-mobility scenarios. In this p…
High-speed aerial grasping presents significant challenges due to the high demands on precise, responsive flight control and coordinated gripper manipulation. In this work, we propose Swooper, a deep …
Mimicking the graceful motion of swimming animals remains a core challenge in soft robotics due to the complexity of fluid-structure interaction and the difficulty of controlling soft, biomimetic bodi…
Vision-Language-Action (VLA) models have emerged as a promising paradigm for general-purpose robotic manipulation, leveraging large-scale pre-training to achieve strong performance. The field has rapi…
Remote Operation is touted as being key to the rapid deployment of automated vehicles. Streaming imagery to control connected vehicles remotely currently requires a reliable, high throughput network c…
Intra-vehicular free-flying robots are anticipated to support various work in human spaceflight while working side-by-side with astronauts. Such example of robots includes NASA's Astrobee, DLR's CIMON…
The purpose of this paper is to illustrate, in an experimental facility consisting of a simple pendular device, the performance of a sliding mode adaptive position-feedback tracking controller of mech…
Visual navigation for robotics is inspired by the human ability to navigate environments using visual cues and memory, eliminating the need for detailed maps. In unseen, unmapped, or GPS-denied settin…
Actuator amplitude and rate saturation (A\&RSat), together with their consequent windup problem, have long been recognised as challenges in control systems. Anti-windup (AW) solutions have been develo…
We consider a computation offloading system where jobs are processed sequentially at a local server followed by a higher-capacity cloud server. The system offers two service modes, differing in how th…
Imitation learning method has shown immense promise for robotic manipulation, yet its practical deployment is fundamentally constrained by the data scarcity. Despite prior work on collecting large-sca…
This letter proposes an algebraic solution for the problem of 3-D source localization utilizing the minimum number of measurements, i.e., one Time Difference of Arrival (TDOA) and one Angle of Arrival…
The objective of this note is to share some reflections of the authors regarding the use of sliding mode designs in control systems. We believe the abundant, and ever increasing, appearance of this ki…
Effective stroke recovery requires continuous rehabilitation integrated with daily living. To support this need, we propose a home-based rehabilitation exercise and feedback system. The system consist…
Deploying reinforcement learning (RL) safely in the real world is challenging, as policies trained in simulators must face the inevitable sim-to-real gap. Robust safe RL techniques are provably safe, …
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