Research
Research
Research
Research
46,809+ open-access research outputs.
Diffusion-based trajectory optimization has emerged as a powerful planning paradigm, but existing methods require either learned score networks trained on large datasets or analytical dynamics models …
We used the Webots robotics simulation platform to simulate a dyadic avoiding and mobbing predator behavior in a group of Braitenbergian robots. Mobbing is an antipredator adaptation used by some anim…
We present Speaking Memories, a distributed, stakeholder-in-the-loop robotic interaction platform for personalized cognitive exercise support. Rather than a single robot-centric system, Speaking Memor…
This thesis presents a solution that enables aerial robots to reason about surrounding wind flow fields in real time using on board sensors and embedded flight hardware. The core novelty of this resea…
Distributed energy resources (DERs) such as rooftop solar, battery storage, and demand response offer substantial potential for power system reliability, yet integrating them into resource adequacy (R…
Offline reinforcement learning (RL) is an attractive tool for unmanned aerial vehicle (UAV) systems, where online exploration is costly and raises safety concerns. In terrain-aware UAV relaying, agent…
This paper extends the Acemoglu-Restrepo task exposure framework to address the labor market effects of agentic artificial intelligence systems: autonomous AI agents capable of completing entire occup…
The electric power sector has seen an increased penetration of renewable energy sources (RESs) that could strain the system reliability due to their inherent uncertainties in availability and controll…
Data-driven safety verification of robotic systems often relies on zonotopic reachability analysis due to its scalability and computational efficiency. However, for nonlinear systems, these methods ca…
The contact-rich nature of manipulation makes it a significant challenge for robotic teleoperation. While haptic feedback is critical for contact-rich tasks, providing intuitive directional cues withi…
With the increasing penetration of inverter-based resources (IBRs) in power grids, system-level coordinated optimization of IBR controllers has become increasingly important for maintaining overall sy…
Video-generative world models are increasingly used as neural simulators for embodied planning and policy learning, yet their ability to predict physical risk and severe consequences is rarely evaluat…
The system identification capabilities of a novel information-theoretic method are examined here. Specifically, this work uses information-theoretic metrics and vibration-based measurements to enhance…
In the reinforcement learning literature, strong theoretical guarantees have been obtained for algorithms applicable to LTI systems. However, in the nonlinear case only weaker results have been obtain…
Ensuring safe behavior is critical for modern autonomous cyber-physical systems. Control barrier functions (CBFs) are widely used to enforce safety in autonomous systems, yet their placement within ne…
Many real-life signals, such as gravitational wave measurements, biomedical signals, or geophysical data, are strongly non-stationary but can be decomposed into mono-component signals that contain onl…
While Third Generation Partnership Project (3GPP) has confirmed orthogonal frequency division multiplexing (OFDM) as the baseline waveform for sixth-generation (6G), its performance is severely compro…
Pulse charging can be used to boost up charging speed for lithium-ion batteries and delay battery capacity fading by periodically pausing the current during charging. However, this technique introduce…
Certifying the Region of Attraction (ROA) for high-dimensional nonlinear dynamical systems remains a severe computational bottleneck. Traditional deterministic verification methods, such as Sum-of-Squ…
We consider safety-critical multi-agent systems with distributed control architectures and potentially varying network topologies. While learning-based distributed control enables scalability and high…
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