Research
Research
Research
Research
499+ open-access research outputs.
Cooperative integrated sensing and communication (ISAC) based on orthogonal frequency-division multiplexing (OFDM) enables network-wide sensing by exploiting the spatial diversity of multi-base-statio…
Upper-limb exoskeletons (ULEs) have the potential to restore functional independence in individuals with severe motor impairments; however, the clinical relevance of wrist degrees of freedom (DoF), pa…
Wrist function is essential in performing activities of daily living (ADLs). However, there is limited experimental evidence on the functional impact of wrist Abduction-Adduction (Ab-Ad) joint assista…
Synthetic aperture radar tomography (TomoSAR) enables 3-D imaging by exploiting multibaseline acquisitions and has become an important tool for urban mapping. To achieve super-resolution inversion, sp…
In this paper we present a novel visual servoing framework to control a robotic manipulator in the configuration space by using purely natural visual features. Our goal is to develop methods that can …
In massive machine-type communication (mMTC) applications, a key challenge is joint device activity detection and channel estimation (JADCE) under grant-free random access, as a massive number of devi…
Koopman operator-based methods enable data-driven bilinear representations of unknown nonlinear control systems. Accurate representations often demand significantly higher dimensions than the original…
Optimal stabilization of safety-critical nonlinear systems requires balancing long-term performance and strict safety constraints. Existing quadratic-programming-based control barrier function (CBF) s…
This paper studies joint range-angle estimation and communication in the NF ISAC systems, where the BS serves a single UE whose position is simultaneously estimated via monostatic sensing. Unlike the …
The unscented Kalman filter (UKF) is a commonly used algorithm capable of estimating the states of nonlinear dynamic systems. It carefully chooses a set of sample points, called sigma points that capt…
In GNSS-denied underwater environments, individual unmanned underwater vehicles (UUVs) suffer from unbounded dead-reckoning drift, making collaborative navigation crucial for accurate state estimation…
This paper presents a phase-difference-based scheme for three-dimensional (3D) line-of-sight (LoS) user localization using a uniform planar array (UPA), applicable to both near-field and far-field reg…
This paper presents a state- and control-dependent moving-horizon estimation (SCD-MHE) algorithm for nonlinear discrete-time systems. Within this framework, a pseudo-linear representation of nonlinear…
The reliable operation of Unmanned Underwater Vehicle (UUV) clusters is highly dependent on continuous acoustic communication. However, this communication method is highly susceptible to intermittent …
Autonomous proximity operations, such as active debris removal and on-orbit servicing, require high-fidelity relative navigation solutions that remain robust in the presence of parametric uncertainty.…
Vehicle overtaking is one of the most complex driving maneuvers for autonomous vehicles. To achieve optimal autonomous overtaking, driving systems rely on multiple sensors that enable safe trajectory …
Analog beamforming holds great potential for future terahertz (THz) communications due to its ability to generate high-gain directional beams with low-cost phase shifters. However, conventional analog…
Nonlinear extensions of the Kalman filter (KF), such as the extended Kalman filter (EKF) and the unscented Kalman filter (UKF), are indispensable for state estimation in complex dynamical systems, yet…
We develop an optimization-free framework for safe stabilization of single-input control-affine nonlinear systems with a given control Lyapunov function (CLF) and a given control barrier function (CBF…
The increasing use of marine spaces by offshore infrastructure, including oil and gas platforms, underscores the need for consistent, scalable monitoring. Offshore development has economic, environmen…
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