Research
Research
Research
Research
164+ open-access research outputs.
This paper presents an online reinforcement-learning framework for safe gain scheduling of a nonlinear quadcopter controller. Rather than learning thrust and torque commands directly, the proposed met…
This paper proposes a safe reinforcement learning (RL) framework based on forward-invariance-induced action-space design. The control problem is cast as a Markov decision process, but instead of relyi…
This paper presents QuadSoft, a novel fully actuated quadrotor equipped with continuous-curvature, tendon-driven soft robotic arms. The design combines a semi-rigid central frame with flexible arms, e…
Fluid antenna systems (FAS) achieve spatial diversity by dynamically switching among $N$ densely packed ports, but the resulting spatially correlated Rayleigh channels render exact outage analysis int…
Existing aerial-robotics benchmarks target vehicles from hundreds of grams to several kilograms and typically expose only high-level state data. They omit the actuator-level signals required to study …
We present a complete infrastructure-less magneto-inductive (MI) localization system enabling a lightweight UAV to autonomously hover, track, and land with centimeter precision on a mobile quadruped r…
This paper presents a deep Q-network (DQN)-based gain-scheduling framework for safety-critical quadcopter trajectory tracking. Instead of directly learning control inputs, the proposed approach select…
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 …
Autonomous aerial-surface robot teams offer a scalable solution for maritime monitoring, but deployment remains difficult due to water-induced visual artifacts and bandwidth-limited coordination. This…
Advancements in foundation models have catalyzed research in Embodied AI to develop interactive agents capable of environmental reasoning and interaction. Developing such agents requires diverse, larg…
Visual navigation is fundamental to autonomous systems, yet generating reliable trajectories in cluttered and uncertain environments remains a core challenge. Recent generative models promise end-to-e…
We study dual-unmanned aerial vehicle (UAV) jamming-aided secure communication networks, in which one UAV delivers confidential data to multiple ground users (GUs), while a cooperative UAV provides pr…
The fundamental mechanism driving MIMO beamforming is the relative phases of signals departing the transmit array and arriving at the receive array. If a propagation channel affects all transmitted si…
This paper presents a customized microgrid planning algorithm and tool, HyMGP, for remote sites in arid regions, which is formulated as a Mixed Integer Linear Programming (MILP) problem. HyMGP is comp…
Unmanned aerial vehicles (UAVs) can be critical for time-sensitive data collection missions, yet existing research often relies on simulations that fail to capture real-world complexities. Many studie…
Near-field sensing with extremely large-scale antenna arrays (ELAAs) in practical 6G systems is expected to operate over broad bandwidths, where delay, Doppler, and spatial effects become tightly coup…
Extremely large-scale antenna arrays (ELAAs) envisioned for 6G enable high-resolution sensing. However, the ELAAs worked in extremely high frequency will push operation into the near-field region, whe…
This study aims to evaluate the techno-economic feasibility of hybrid energy systems (HES) including Grid for providing reliable and sustainable power to Boru Meda Hospital, Ethiopia. HOMER pro 3.11.2…
This paper introduces an adaptive preprocessing technique to enhance the accuracy of channel state information-based physical layer authentication (CSI-PLA) alleviating CSI variations and inconsistenc…
Morphing aerial robots have the potential to transform autonomous flight, enabling navigation through cluttered environments, perching, and seamless transitions between aerial and terrestrial locomoti…
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