Research
Research
Research
Research
4,131+ open-access research outputs.
Vehicular sensing-based intelligence has made substantial progress in transportation systems, leading to higher levels of safety and sustainability for smart cities and autonomous systems. This paper …
The advancement of automated vehicles introduces complex safety challenges, particularly in dynamic and unpredictable environments where AI-enabled perception systems must operate reliably. Ensuring c…
To preserve or not to preserve prosody is a central question in voice anonymization. Prosody conveys meaning and affect, yet is tightly coupled with speaker identity. Existing methods either discard p…
The assessment of reactive power demand plays an instrumental role in power system planning. This paper presents a methodology for calculating reactive power demand based on a two-step approach. Unlik…
We provide a systematic interval observer design method for detectable linear time-invariant (LTI) systems, where a part of the state is observable from the measured output. An observability-based inv…
Learning-based control techniques use data from past trajectories to control systems with uncertain dynamics. However, learning-based controllers are often computationally inefficient, limiting their …
Line spectral estimation (LSE) involves estimating both spectral frequencies and their associated complex amplitudes. Existing Fisher-information-based benchmarks are local and therefore do not captur…
Active perception is a fundamental problem in autonomous robotics in which the robot must decide where to move and what to sense in order to obtain the most informative observations for accomplishing …
Learning robot manipulation from human videos is appealing due to the scale and diversity of human demonstrations, but transferring such demonstrations to executable robot behavior remains challenging…
Thanks to the latest advances in learning and robotics, domestic robots are beginning to enter homes, aiming to execute household chores autonomously. However, robots still struggle to perform autonom…
This paper proposes and analyzes Riemannian optimization algorithms on the manifold of unitary and symmetric matrices, denoted ${\cal {U}}_s$, which naturally models the scattering matrices of passive…
An asymmetric two-link robot supported atop a flat platform by wheels that roll and pivot freely, but do not slip laterally, will develop forward momentum if the joint between the links is actuated in…
Many robotic tasks are unforgiving; a single mistake in a dynamic throw can lead to unacceptable delays or unrecoverable failure. To mitigate this, we present a novel approach that leverages learned s…
Discrete-event systems and supervisory control theory provide a rigorous framework for specifying correct-by-construction behavior. However, their practical application to swarm robotics remains large…
Real-world deployments of human--swarm teams depend on balancing operator workload to leverage human strengths without inducing overload. A key challenge is that swarm size is often dynamic: robots ma…
We study sensor scheduling for continuous-discrete Kalman filtering with Poisson measurement arrivals and propose an information-form deterministic surrogate for scalable offline design. Unlike the co…
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…
Multi-robot control in cluttered environments is a challenging problem that involves complex physical constraints, including robot-robot collisions, robot-obstacle collisions, and unreachable motions.…
As groups of robots increasingly collaborate with humans, understanding how humans perceive them is critical for designing effective human-robot teams. While prior research examined how humans interpr…
The electric vehicle (EV) charging demands (CD) are jointly determined by the EV owners' behavior (i.e., human factor) and the electricity prices (i.e., decisions of distribution system operators (DSO…
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