Research
Research
Research
Research
2,934+ open-access research outputs.
Dense, dynamic crowds pose a persistent challenge for autonomous mobile robots. Purely reactive planning methods, such as Model Predictive Path Integral (MPPI) control, often fail to escape local mini…
Accurate segmentation and localization of left atrial (LA) ablation scars from Late gadolinium enhancement (LGE)-MRI is essential for assessing the lesion completeness and guiding ablation therapy. In…
In this paper, we introduce GET-2D-1.0, a fast grasp planner for the GET asymmetrical gripper that operates from a single-view RGB-D image, using the Ferrari-Canny metric and a novel sampling strategy…
The increasing penetration of inverter-based resources (IBRs) has fundamentally altered the transient stability characteristics of modern power systems. IBRs typically rely on proportional--integral (…
This work presents GS-DOT, a novel image reconstruction framework based on Gaussian Splatting (GS) for diffuse optical tomography (DOT). Inspired by GS for rendering applications, absorption coefficie…
This letter presents an energy-efficient multi-robot coverage path planning (MRCPP) framework for large, nonconvex Regions of Interest (ROI) containing obstacles and no-fly zones (NFZ). Existing minim…
Autonomous medical robots hold promise to improve patient outcomes, reduce provider workload, democratize access to care, and enable superhuman precision. However, autonomous medical robotics has been…
Determining the optimal phase configurations of reconfigurable intelligent surface (RIS) elements typically requires complex channel estimation procedures with high pilot overhead, creating a bottlene…
Accurate segmentation of gastrointestinal (GI) organs in magnetic resonance enterography (MRE) is critical for diagnosing inflammatory bowel disease (IBD). However, anatomical variability, class imbal…
To meet the growing data traffic demand in future wireless systems, novel transmission architectures capable of adapting to complex propagation environments are required. Movable antenna (MA) systems …
This study presents a physically informed hybrid time-frequency and machine learning (STFT-ML) framework for arc stability monitoring in electric arc welding systems. The primary current signal is mod…
Mobile molecular communication (MC) links with counting receivers are sensitive to transmitter--receiver geometry especially when nodes are mobile. We study binary detection from within-symbol count o…
Reconstructing the shape of continuum manipulators from sparse, noisy sensor data is a challenging task, owing to the infinite-dimensional nature of such systems. Existing approaches broadly trade off…
In the sixth generation (6G) wireless communication networks, the device density, antenna number, and the complexity of communication scenarios will significantly increase, which brings great challeng…
Ultrasound imaging tasks such as calibration, inverse parameter estimation, and acquisition design require models that are physically grounded, efficient, and differentiable with respect to meaningful…
Sub-Terahertz radio-stripe and distributed MIMO architectures promise extreme spatial reuse and multi-GHz bandwidths, but the cascaded fiber front-haul and RF hardware impairments strongly shape end-t…
Reduced-order models (ROMs) are essential for rapid simulation of complex biomechanical systems and for bridging the gap between high fidelity models and clinical application. However, ROMs for tissue…
Indoor wireless communication environments are strongly influenced by dynamic conditions, which affect channel state information (CSI) and, consequently, the precoding strategy and the selection of th…
Deep learning has enabled highly realistic synthetic speech, raising concerns about fraud, impersonation, and disinformation. Despite rapid progress in neural detectors, transparent baselines are need…
Multimodal federated learning enables privacy-preserving collaborative model training across healthcare institutions. However, a fundamental challenge arises from modality heterogeneity: many clinical…
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