Research
Research
Research
Research
3,074+ open-access research outputs.
Policy optimization in high-dimensional continuous control for robotics remains a challenging problem. Predominant methods are inherently local and often require extensive tuning and carefully chosen …
This work presents the design and analysis of a sixth-order triple-coupled transformer-based tank, enabling third-harmonic expansion for mmWave VCOs. Unlike conventional fourth-order tanks, the propos…
In digital sliding mode control implementations, discretization-induced chattering and inter-sample blindness can severely degrade the closed-loop performance, especially in case of fast perturbations…
Metasurfaces' ability to control electromagnetic wave propagation has led to a rapid paradigm shift in wireless operation. These metasurfaces are often called reconfigurable intelligent surfaces (RISs…
This paper presents a unified control framework for robust trajectory tracking and moving obstacle avoidance applicable to a broad class of mobile robots. By formulating a generalized kinematic transf…
The shift to the radiative near field region due to large antenna arrays necessitates beamforming that accounts for both angle and range, evolving mobility management into a joint angular range tracki…
This paper studies the robust optimal operation of distribution networks (DNs) under renewable generation and load demand uncertainties, seeking an improved trade-off between robustness and economic p…
Speaker diarization (SD) is the task of answering "who spoke when" in a multi-speaker audio stream. Classically, an SD system clusters segments of speech belonging to an individual speaker's identity.…
The integration of Model Predictive Control (MPC) and Reinforcement Learning (RL) has emerged as a promising paradigm for constrained decision-making and adaptive control. MPC offers structured optimi…
Circuits' and in particular DC/DC converters' switching behavior is analyzed in this paper using the equivalent control modeling of the dynamic systems' sliding mode regime. As a representative exampl…
Unknown payloads can strongly affect compliant robotic manipulation, especially when the payload center of mass is not aligned with the tool center point. In this case, the payload generates an offset…
This paper presents an AI-enabled cascaded hybrid vision/force control framework for tendon-driven aerial continuum manipulators based on constant-strain modeling in $SE(3)$ as a coupled system. The p…
Current learning-based wireless methods struggle with generalization due to the fragmented processing of communication and sensing data. WiFo-MiSAC addresses this as a task-agnostic foundation model t…
Tillage operations account for a large share of on-farm diesel consumption, yet the fuel efficiency of the combined tractor-implement system is not optimised in current practice. Modern continuously v…
This paper considers multi-agent embodied question answering (MA-EQA), which aims to query robot teams on what they have seen over a long horizon. In contrast to existing edge resource management meth…
Robotic manipulators for aerospace applications require a delicate balance between lightweight construction and fault-tolerant operation to satisfy strict weight limitations and ensure reliability in …
Computational complexity has been a major challenge in game-theoretic model predictive control (GT-MPC), as real-time solutions to a game (e.g., Nash equilibria (NEs)) have to be computed at each samp…
Learning robust robot policies in real-world environments requires diverse data augmentation, yet scaling real-world data collection is costly due to the need for acquiring physical assets and reconfi…
The distribution system restoration (DSR) problem has received considerable attention over the last decade or more. Solutions to the DSR problem identify the best set or sequence of actions to perform…
Visual-inertial odometry (VIO) is widely used for mobile robot localization, but its long-term accuracy degrades without global constraints. Incorporating ranging sensors such as ultra-wideband (UWB) …
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