Research
Research
Research
Research
459+ open-access research outputs.
The Euclidean Steiner tree problem, normally posed in two dimensions, seeks to connect a set of prescribed terminal nodes by placing additional nodes, known as Steiner points, with edges connecting su…
Power system expansion depends on the equipment required to connect, convert, regulate, and condition electricity, yet grid-supporting equipment (GSE) is rarely modeled as an explicit constraint. We d…
Shell structures are pivotal in the fields of architecture and engineering, due to their aesthetic appeal and structural efficiency. Recently, 3D concrete printing has reignited the interest in these …
We present a solver-agnostic framework in which coordinated large language model (LLM) agents autonomously execute the complete computational mechanics workflow, from perceptual data of an engineering…
The integration of the high penetration of intermittent renewable energy sources (RES) and the retirement of thermal units have significantly aggravated the flexibility scarcity and real-time balancin…
We propose a Stein variational distributionally robust controller for nonlinear dynamical systems with latent parametric uncertainty. The method is an alternative to conservative worst-case ambiguity-…
Reliable estimation of surgical needle 3D position and orientation is essential for autonomous robotic suturing, yet existing methods operate almost exclusively under stereoscopic vision. In monocular…
Audio-Language Models (ALMs) are making strides in understanding speech and non-speech audio. However, domain-specialist Foundation Models (FMs) remain the best for closed-ended speech processing task…
We present a filtering framework for online joint state estimation and parameter identification in nonlinear, time-varying systems. The algorithm uses Rao-Blackwellization technique to infer joint sta…
Scaling the design of robots up or down remains a fundamental challenge. While biological systems follow well-established isometric and allometric scaling laws relating mass, stride frequency, velocit…
Zero-shot object-goal navigation (ZSON) requires navigating unknown environments to find a target object without task-specific training. Prior hierarchical training-free solutions invest in scene unde…
Inertial navigation using low-cost MEMS sensors is plagued by rapid drift due to sensor noise and bias instability. While recent data-driven approaches have made significant strides, they often strugg…
We present GelSphere, a spherical vision-based tactile sensor designed for real-time continuous surface scanning. Unlike traditional vision-based tactile sensors that can only sense locally and are da…
Recently, generative diffusion priors have made huge strides as inverse problem solvers, including the ability to be adapted for inference on out-of-distribution data. Concurrently, implicit neural re…
Cooperative localization (CL) enables accurate position estimation in multi-robot systems operating in GPS-denied environments. This paper presents a comparative study of five CL approaches: Centraliz…
Surface manipulation tasks require robots to generate trajectories that comprehensively cover complex 3D surfaces while maintaining precise end-effector poses. Existing ergodic trajectory optimization…
Robotic systems operating in unstructured environments must operate under significant uncertainty arising from intermittent contacts, frictional variability, and unmodeled compliance. While recent mod…
Signal Temporal Logic (STL) enables formal specification of complex spatiotemporal constraints for robotic task planning. However, synthesizing long-horizon continuous control trajectories from comple…
A segmented waveguide-enabled pinching-antenna system (SWAN)-based tri-hybrid beamforming architecture is proposed for uplink multi-user MIMO communications, which jointly optimizes digital, analog, a…
Discrete biological sequence optimization requires iterative refinement under strict syntactic constraints. Diffusion models offer progressive refinement but do not naturally expose controllable discr…
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