Research
Research
Research
Research
135+ open-access research outputs.
Inefficient driving behaviors, such as overly conservative yielding, remain a key obstacle to deployment of autonomous vehicles (AVs). Instantaneous driving efficiency metrics are crucial for self-dri…
We propose a robust nonlinear model predictive control (MPC) scheme for trajectory-tracking control of autonomous vehicles at the limits of handling on non-planar road surfaces. We derive the dynamics…
Structural reliability evaluation for composites constitutes a fundamentally high-dimensional multiscale problem, as microscale material uncertainties must propagate to the macroscale and can be quant…
Data centers (DCs) are emerging as large, geographically distributed, controllable loads whose participation in electricity markets can significantly affect grid operation, especially when cloud platf…
This paper addresses the conservatism in data-driven reachability analysis for discrete-time linear systems subject to bounded process noise, where the system matrices are unknown and only input--stat…
Speech deepfake source verification systems aims to determine whether two synthetic speech utterances originate from the same source generator, often assuming that the resulting source embeddings are …
We present TANGO (Tensor ANd Graph Optimization), a novel motion planning framework that integrates tensor-based compression with structured graph optimization to enable efficient and scalable traject…
Data-efficient training of robust robot policies is the key to unlocking automation in a wide array of novel tasks. Current systems require large volumes of demonstrations to achieve robustness, which…
Understanding traveler behavior and accurately predicting travel mode choice are at the heart of transportation planning and policy-making. This study proposes TransMode-LLM, an innovative framework t…
Most reinforcement learning(RL)-based methods for drone racing target fixed, obstacle-free tracks, leaving the generalization to unknown, cluttered environments largely unaddressed. This challenge ste…
Many recent data-driven control approaches for linear time-invariant systems are based on finite-horizon prediction of output trajectories using input-output data matrices. When applied recursively, t…
This paper presents a closed-loop framework for conflict-free routing and scheduling of multi-aircraft in Terminal Manoeuvring Areas (TMA), aimed at reducing congestion and enhancing landing efficienc…
Background: Upper-limb weakness and tremor (4--12 Hz) limit activities of daily living (ADL) and reduce adherence to home rehabilitation. Objective: To assess technical feasibility and clinician-relev…
Simulation-based reinforcement learning (RL) has significantly advanced humanoid locomotion tasks, yet direct real-world RL from scratch or adapting from pretrained policies remains rare, limiting the…
This paper investigates the specific scenario of high-intensity confrontations between humans and robots, to understand how robots can defuse the conflict. It focuses on the effectiveness of using fiv…
Obtaining data on active travel activities such as walking, jogging, and cycling is important for refining sustainable transportation systems (STS). Effectively monitoring these activities not only re…
Point-mass filters solve Bayesian recursive relations by approximating probability density functions of a system state over grids of discrete points. The approach suffers from the curse of dimensional…
Hiking on complex trails demands balance, agility, and adaptive decision-making over unpredictable terrain. Current humanoid research remains fragmented and inadequate for hiking: locomotion focuses o…
This paper proposes a coordinated routing approach that investigates the use of connected and automated vehicles (CAVs) in dedicated bus lanes. The aim is to improve bus schedule adherence while enhan…
Accurate estimation of gait characteristics, including step length, step velocity, and travel distance, is critical for assessing mobility in toddlers, children and teens with Duchenne muscular dystro…
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