Research
Research
Research
Research
32,423+ open-access research outputs.
A class of planar bipedal robots with unique mechanical properties has been proposed, where all links are balanced around the hip joint, preventing natural swinging motion due to gravity. A common pro…
This paper investigates the secrecy performance of pinching-antenna systems (PAS) under practical pinching-position activation uncertainty. By dynamically selecting the radiation point along a dielect…
Behavior Trees (BTs) provide designers an intuitive graphical interface to construct long-horizon plans for autonomous systems. To ensure their correctness and safety, rigorous formal models and verif…
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…
Layered control is essential for managing complexity in large-scale systems, employing progressively coarser models at higher layers. While significant advances have been made for fully observable sys…
The analysis of multi-dimensional graph signals on complex structured domains remains a fundamental challenge,…
Recent advances in robotic manipulation have highlighted the effectiveness of learning from demonstration. However, while end-to-end policies excel in expressivity and flexibility, they struggle both …
Vision-Language-Action (VLA) models have recently emerged as a promising paradigm for building general-purpose robotic agents. However, the VLA landscape remains highly fragmented and complex: as exis…
In this work, we study angle-based localization and rigidity maintenance control for multi-robot networks. First, we establish the relationship between angle rigidity and bearing rigidity considering …
Koopman operator theory is a key tool in data assimilation of complex dynamical systems, with the potential to be applied to multimodal data. We formulate the problem of learning Koopman eigenfunction…
This paper studies cyber attacks against informativity-based analysis in data-driven control. Focusing on strong observability, we consider an adversary who post-processes finite time-series data by a…
Industrial control applications require detecting system anomalies as accurately and quickly as possible to enable prompt maintenance. In this context, it is common to consider several possible plant …
This paper proposes a novel Distributed Unknown Input Observer (DUIO) framework for state estimation in large-scale systems subject to local unknown inputs. We consider systems where outputs are measu…
This paper investigates the impact of practical features of the emerging antenna array technology of Dynamic Metasurface Antennas (DMAs) when used for wideband sensing. By adopting a realistic DMA res…
This work explores controllability and the control effort required for lithium-ion batteries. Battery packs have become a critical technology in both personal and professional applications as a means …
Many wireless systems divide the baseband processing between two locations, interconnected by a fronthaul. This paper examines the impact of fronthaul quantization on multiple-input multiple-output (M…
Reinforcement learning (RL) can be a powerful alternative to classical control methods when standard model-based control is insufficient, e.g., when deriving a suitable model is intractable or impossi…
Integrated sensing and communication (ISAC) systems rely on communication waveforms to perform sensing tasks, thus making their sensing performance strongly dependent on the level of communication sym…
For the past decades medical robotic solutions were mostly based on the concept of tele-manipulation. While their design was extremely intelligent, allowing for better access, improved dexterity, redu…
Accurate and continuous localization of Autonomous Underwater Vehicles (AUVs) in GPS-denied environments is a persistent challenge in marine robotics. In the absence of external position fixes, AUVs r…
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