Research
Research
Research
Research
273+ open-access research outputs.
Satellite constellation design requires optimizing orbital parameters across multiple satellites to maximize mission specific metrics. For many types of mission, it is desirable to maximize coverage a…
Bipeds have demonstrated high agility and mobility in unstructured environments such as sand. The yielding of such granular media brings significant sinkage and slip of the bipedal feet, leading to un…
For hybrid systems exhibiting periodic behavior, analyzing the invariant set containing the limit cycle is a natural way to study the robustness of the closed-loop system. However, computing these set…
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-…
The design of distributed autonomous systems for operation beyond reliable ground contact presents a fundamental tension: as round-trip communication latency grows, the set of decisions delegable to g…
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…
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…
Robots are increasingly expected to execute open ended natural language requests in human environments, which demands reliable long horizon execution under partial observability. This is especially ch…
Surface manipulation tasks require robots to generate trajectories that comprehensively cover complex 3D surfaces while maintaining precise end-effector poses. Existing ergodic trajectory optimization…
Embodied navigation agents powered by large language models have shown strong performance on individual tasks but struggle to continually acquire new navigation skills, which suffer from catastrophic …
Signal Temporal Logic (STL) enables formal specification of complex spatiotemporal constraints for robotic task planning. However, synthesizing long-horizon continuous control trajectories from comple…
Safely moving through environments affected by fire is a critical capability for autonomous mobile robots deployed in disaster response. In this work, we present a novel approach for mobile robots to …
The prevailing paradigm in Robotic Mobile Fulfillment Systems (RMFS) typically treats order scheduling and multi-agent pathfinding as isolated sub-problems. We argue that this decoupling is a fundamen…
Achieving general-purpose robotic manipulation requires robots to seamlessly bridge high-level semantic intent with low-level physical interaction in unstructured environments. However, existing appro…
Passive dynamic walkers are widely adopted as a mathematical model to represent biped walking. The stable locomotion of these models is limited to tilted surfaces, requiring gravitational energy. Vari…
Ultrasound is the most widely used medical imaging modality, yet the images it produces are fundamentally unique, arising from tissue-dependent scattering, reflection, and speed-of-sound variations th…
Trajectory planning is a fundamental yet challenging component of autonomous driving. End-to-end planners frequently falter under adverse weather, unpredictable human behavior, or complex road layouts…
Flow-based text-to-image (T2I) models excel at prompt-driven image generation, but falter on Image Restoration (IR), often "drifting away" from being faithful to the measurement. Prior work mitigate t…
This paper introduces a direct comparative study of Physics-Informed Neural Networks (PINNs) and Long Short-Term Memory (LSTM) networks for adaptive steam temperature control in Heat Recovery Steam Ge…
This paper presents a novel fault-tolerant control framework for steam temperature regulation in Heat Recovery Steam Generators (HRSGs) subject to actuator faults. Addressing the critical challenge of…
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