Research
Research
Research
Research
35+ open-access research outputs.
Soil moisture is a critical variable for managing irrigation, improving crop yield, and understanding field-scale hydrology. Radars mounted on unmanned aerial vehicles (UAVs) offer a promising means t…
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 …
CoNi-MPC provides an efficient framework for UAV control in air-ground cooperative tasks by relying exclusively on relative states, eliminating the need for global state estimation. However, its lack …
Clear communication of robot intent fosters transparency and interpretability in physical human-robot interaction (pHRI), particularly during assistive tasks involving direct human-robot contact. We i…
The hippocampus, a critical brain structure involved in memory processing and various neurodegenerative and psychiatric disorders, comprises three key subregions: the dentate gyrus (DG), Cornu Ammonis…
For robots to operate in general environments like households, they must be able to perform non-prehensile manipulation actions such as toppling and rolling to manipulate ungraspable objects. However,…
This article describes a new, efficient way of finding control and state trajectories in optimal control problems by reformulation as a system of differential-algebraic equations (DAEs). The optimal c…
We present a simple performance bound for the greedy scheme in string optimization problems that obtains strong results. Our approach vastly generalizes the group of previously established greedy curv…
Under-canopy agricultural robots require robust navigation capabilities to enable full autonomy but struggle with tight row turning between crop rows due to degraded GPS reception, visual aliasing, oc…
Organic weed control is a vital to improve crop yield with a sustainable approach. In this work, a directed energy weed control robot prototype specifically designed for organic farms is proposed. The…
This research aims to detect the physical characteristics of corn kernels and analyze images using a deep learning model. The data analysis based on the CRISP-DM framework which consists of six steps,…
The success of collaboration between humans and robots in shared environments relies on the robot's real-time adaptation to human motion. Specifically, in Social Navigation, the agent should be close …
We consider the celebrated bound introduced by Conforti and Cornu\'ejols (1984) for greedy schemes in submodular optimization. The bound assumes a submodular function defined on a collection of sets f…
Diffusion MRI (dMRI) streamline tractography, the gold standard for in vivo estimation of brain white matter (WM) pathways, has long been considered indicative of macroscopic relationships with WM mic…
Nonprehensile manipulation is essential for manipulating objects that are too thin, large, or otherwise ungraspable in the wild. To sidestep the difficulty of contact modeling in conventional modeling…
Perceptual evaluation constitutes a crucial aspect of various audio-processing tasks. Full reference (FR) or similarity-based metrics rely on high-quality reference recordings, to which lower-quality …
Cultivation and weeding are two of the primary tasks performed by farmers today. A recent challenge for weeding is the desire to reduce herbicide and pesticide treatments while maintaining crop qualit…
Dynamics models learned from visual observations have shown to be effective in various robotic manipulation tasks. One of the key questions for learning such dynamics models is what scene representati…
This paper presents a novel solution for UAV control in cooperative multi-robot systems, which can be used in various scenarios such as leader-following, landing on a moving base, or specific relative…
The Inflation Reduction Act (IRA) in the United States provides unprecedented incentives for deploying low-carbon hydrogen and liquid fuels, among other low greenhouse gas (GHG) emissions technologies…
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