Research
Research
Research
Research
32,423+ open-access research outputs.
With the push toward 6G commercialization, Frequency Range 3 (FR3) bands, specifically 7.125-8.4 GHz and 14.8-15.3 GHz, have become focal points for achieving wide-area, high-capacity coverage. Howeve…
This paper considers the problem of reachability analysis of control systems with optimal controllers, as a first step towards verifying the safety and correctness of such systems. Despite their appea…
We show that a common Lyapunov matrix exists for the convex combination of two Hurwitz matrices if and only if the intersection of the set of strict Lyapunov matrices for one matrix and the set of non…
Reconstructing the shape of continuum manipulators from sparse, noisy sensor data is a challenging task, owing to the infinite-dimensional nature of such systems. Existing approaches broadly trade off…
Manipulation policies deployed in uncontrolled real-world scenarios are faced with great in-category geometric diversity of everyday objects. In order to function robustly under such variations, polic…
This paper presents a novel density control framework for multi-robot systems with spatial safety and energy sustainability guarantees. Stochastic robot motion is encoded through the Fokker-Planck Par…
This paper introduces a safety-critical optimization-based control strategy that leverages control Lyapunov and control barrier functions to guide the spatial density of robotic swarms governed by the…
Objective. Decoding visual attention from brain signals during naturalistic video viewing has emerged as a new direction in brain-computer interface research. Current methods assume that stronger coup…
We present a novel hierarchical spatiotemporal action tokenizer for in-context imitation learning. We first propose a hierarchical approach, which consists of two successive levels of vector quantizat…
Coverage path planning on irregular hexagonal grids is relevant to maritime surveillance, search and rescue and environmental monitoring, yet classical methods are often compared on small ad hoc examp…
To navigate a space, the brain makes an internal representation of the environment using different cells such as place cells, grid cells, head direction cells, border cells, and speed cells. All these…
This paper presents a novel nonlinear backstepping control law for continuous, low-thrust station-keeping in the Earth-Moon system. Quasi-periodic libration point orbits are targeted under a high-fide…
Mobile manipulation is a fundamental capability that enables robots to interact in expansive environments such as homes and factories. Most existing approaches follow a two-stage paradigm, where the r…
Data-driven dexterous hand manipulation requires large-scale, physically consistent demonstration data. Simulation and video-based methods suffer from sim-to-real gaps and retargeting problems, while …
Efficiently locating target objects in complex indoor environments with diverse furniture, such as shelves, tables, and beds, is a significant challenge for mobile robots. This difficulty arises from …
Dynamic networks consist of interconnected dynamical systems. The subsystems can be viewed as transformations of input signals into output signals, where signals flow from one system into another thro…
Reliable communication in confined environments, such as blood vessels or industrial pipelines, remain challenging due to signal attenuation and limited sensor accessibility. Therefore, this work inve…
Sub-Terahertz radio-stripe and distributed MIMO architectures promise extreme spatial reuse and multi-GHz bandwidths, but the cascaded fiber front-haul and RF hardware impairments strongly shape end-t…
This paper analyzes the implications of simplified pipeline gas flow models for integrated energy system planning. A case study of an integrated power-hydrogen expansion planning problem shows that si…
This paper investigates non-intrusive occupancy detection methods for residential buildings using environmental sensor data from the KTH Live-In Lab in Stockholm, Sweden. Three machine learning approa…
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