Research
Research
Research
Research
46,809+ open-access research outputs.
This paper studies a pinching antenna system (PAS)-assisted hybrid uplink architecture that integrates over-the-air computation (AirComp) and non-orthogonal multiple access (NOMA) to simultaneously su…
Behavior Trees (BTs) provide designers an intuitive graphical interface to construct long-horizon plans for autonomous systems. To ensure their correctness and safety, rigorous formal models and verif…
Legged robots face significant challenges in moving and navigating on deformable and highly yielding terrain such as mud. We present a resistive force model for legged foot-mud interactions. The model…
Bipeds have demonstrated high agility and mobility in unstructured environments such as sand. The yielding of such granular media brings significant sinkage and slip of the bipedal feet, leading to un…
This paper considers a multi-user system, where the users first harvest energy from the base station and then use the harvested energy to transmit information via non-orthogonal multiple access (NOMA)…
Multi-robot systems hold significant promise for social environments such as homes and hospitals, yet existing multi-robot works treat robots as functionally identical, overlooking how robots individu…
This paper describes an embedded boundary (EB) approach for simulating three-dimensional fluid flow on a staggered mesh where the velocity components are defined on cell faces and the thermodynamic st…
We study online linear-quadratic regulation (LQR) with unknown dynamics under communication rate constraints. Classical networked control quantizes the plant state at every time step, requiring $O(T)$…
Vision-Language-Action (VLA) models have recently emerged as a promising paradigm for building general-purpose robotic agents. However, the VLA landscape remains highly fragmented and complex: as exis…
Closed-loop cooperative driving requires planners that generate realistic multimodal multi-agent trajectories while improving safety and traffic efficiency. Existing diffusion planners can model multi…
Simulation-based data generation has become a dominant paradigm for training robotic manipulation policies, yet existing platforms do not incorporate object affordance information into trajectory gene…
Accurate material recognition is a fundamental capability for intelligent perception systems to interact safely and effectively with the physical world. For instance, distinguishing visually similar o…
Locating and intercepting a moving target from possibly delayed, intermittent sensory signals is a paradigmatic problem in decision-making under uncertainty, and a fundamental challenge for, e.g., ani…
Microscale manipulation has advanced substantially in controlled locomotion and targeted transport, yet many biomedical applications require precise and adaptive interaction with biological micro-obje…
Industrial control applications require detecting system anomalies as accurately and quickly as possible to enable prompt maintenance. In this context, it is common to consider several possible plant …
The enhanced Gaussian noise (EGN) model is widely used for estimating the nonlinear interference (NLI) power accumulated in coherent fiber-optic transmission systems. Given a fixed fiber link, under t…
This paper investigates the impact of practical features of the emerging antenna array technology of Dynamic Metasurface Antennas (DMAs) when used for wideband sensing. By adopting a realistic DMA res…
Vision-Language-Action models (VLAs) have demonstrated strong potential for embodied AI, yet their deployment on resource-limited robots remains challenging due to high memory and computational demand…
This work explores controllability and the control effort required for lithium-ion batteries. Battery packs have become a critical technology in both personal and professional applications as a means …
One of the concerns with autonomous vehicles is their ability to communicate their intent to other road users, specially pedestrians, in order to prevent accidents. External Human-Machine Interfaces (…
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