Research
Research
Research
Research
1,623+ open-access research outputs.
This paper addresses the problem of traffic congestion management in fixed-wing unmanned aerial vehicle (UAV) corridors by further developing a recently introduced loiter-lane framework. A semi-cooper…
Ensuring safety for black-box hybrid dynamical systems presents significant challenges due to their instantaneous state jumps and unknown explicit nonlinear dynamics. Existing solutions for strict saf…
Sub-gram flapping-wing flying insect robots (FIRs) are challenging to model because of mechanical complexity in their wings, unsteady aerodynamic flow, and the difficulty of making precise measurement…
Autonomous fixed-wing flight is becoming a key capability in aerial robotics, enabling sensing, mobility, and contingency operations across both small-scale Uncrewed Aircraft Systems and large-scale A…
Evaluation of musical source separation (MSS) has traditionally relied on Blind Source Separation Evaluation (BSS-Eval) metrics. However, recent work suggests that BSS-Eval metrics exhibit low correla…
Rotating FMCW radar odometry methods often assume flat ground conditions. While this assumption is sufficient in many scenarios, including urban environments or flat mining setups, the highly dynamic …
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…
Diffusion policies are becoming mainstream in robotic manipulation but suffer from hard negative class imbalance due to uniform sampling and lack of sample difficulty awareness, leading to slow traini…
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 …
Recent advancements in Text-to-Song generation have enabled realistic musical content production, yet existing evaluation benchmarks lack the professional granularity to capture multi-dimensional aest…
We consider the energy-optimal control problem for double-integrator systems subject to state and control constraints, with fixed terminal time and free terminal speed. When the constraints become act…
Despite their strong performance in embodied tasks, recent Vision-Language-Action (VLA) models remain highly fragile under multimodal perturbations, where visual corruption and linguistic noise jointl…
Spatial single-loop mechanisms such as Bennett linkages offer a unique combination of one-degree-of-freedom actuation and nontrivial spatial trajectories, making them attractive for lightweight bio-in…
In rotary-wing aircraft, rotating blades are exposed to collisions and subsequent damage. The detection and isolation of blade damage constitute the first step in fault mitigation; however, they are p…
Experimental access to real honeybee colonies requires robotic systems capable of operating within limited spatial constraints, tolerating hive-specific fouling and environmental conditions, and suppo…
This paper presents a reinforcement learning-based path-following controller for a fixed-wing small uncrewed aircraft system (sUAS) that is robust to certain actuator failures. The controller is condi…
In this paper, we present a generalized, comprehensive nonlinear mathematical model and conceptual design for the MetaMorpher, a metamorphic Unmanned Aerial Vehicle (UAV) designed to bridge the gap be…
Medical image segmentation is of great significance in analysis of illness. The use of deep neural networks in medical image segmentation can help doctors extract regions of interest from complex medi…
We propose the Polytopic Receding-Horizon Policy Gradient (P-RHPG) algorithm for synthesizing Parallel Distributed Compensation (PDC) controllers via Tensor Product (TP) model transformation. Standard…
This work presents a hybrid physics-informed and data-driven modeling framework for predictive control of autonomous off-road vehicles operating on deformable terrain. Traditional high-fidelity terram…
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