Research
Research
Research
Research
341+ open-access research outputs.
We study cooperative shortest path planning for an unmanned ground vehicle (UGV) assisted by an unmanned aerial vehicle (UAV) in environments with unknown road blockages that are only discovered when …
The development of intelligent and diversified ser vices in urban rail transit (URT) has resulted in an increasing de mand for high-rate communication between vehicles and ground equipment. However, e…
Vehicle-to-Grid (V2G) technology allows bidirectional power flow for real-time grid support, making electric vehicles (EVs) well-suited for ancillary services such as frequency regulation. However, ex…
Clinicians lack a principled framework to quantify diagnostic utility in ultrasound reconstructions. Existing standards like PSNR and VGG-LPIPS are inadequate, failing to account for modality-specific…
At its core, robotic manipulation is a problem of vision-to-geometry mapping ($f(v) \rightarrow G$). Physical actions are fundamentally defined by geometric properties like 3D positions and spatial re…
Recent advances in robot foundation models trained on large-scale human teleoperation data have enabled robots to perform increasingly complex real-world tasks. However, scaling these systems remains …
Renewable power sources have low marginal pro-duction costs, but may result in high balancing costs due to the inherent production uncertainty. Current day-ahead markets elicit only point production p…
Motion planning in dynamic environments, such as robotic warehouses, requires fast adaptation to frequent changes in obstacle poses. Traditional roadmap-based methods struggle in such settings, relyin…
Vision-Language-Action (VLA) models leverage Multimodal Large Language Models (MLLMs) for robotic control, but recent studies reveal that MLLMs exhibit limited spatial intelligence due to training pre…
Electric vehicles (EVs) in Vehicle-to-Grid (V2G) systems act as distributed energy resources that support grid stability. Centralized coordination such as the extended State Space Model (eSSM) enhance…
Vehicle-to-Grid (V2G) adoption is hindered by uncertainties regarding its effects on battery lifetime and vehicle usability. These uncertainties are compounded by limited insight into real-world vehic…
To address the challenge of efficient coverage by multi-robot systems in non-convex regions with multiple obstacles, this paper proposes a coverage control method based on the Generalized Voronoi Grap…
This paper presents a Vehicle-to-Grid (V2G) coordination framework using reinforcement learning (RL). {An intelligent control strategy based on the soft actor-critic algorithm is developed for voltage…
We propose a Hierarchical Multi-scale Knowledge-aware Graph Network (HMKGN) that models multi-scale interactions and spatially hierarchical relationships within whole-slide images (WSIs) for cancer pr…
We present Lumosaic, a compact active hyperspectral video system designed for real-time capture of dynamic scenes. Our approach combines a narrowband LED array with a coded-exposure-pixel (CEP) camera…
We derive a small-signal transfer function for a system comprising a virtual synchronous generator (VSG), a synchronous generator (SG), and a load, capturing voltage and frequency dynamics. Using this…
Precise in-hand manipulation of force-sensitive objects typically requires judicious coordinated force planning as well as accurate contact force feedback and control. Unlike multi-arm platforms with …
We present SceneVGGT, a spatio-temporal 3D scene understanding framework that combines SLAM with semantic mapping for autonomous and assistive navigation. Built on VGGT, our method scales to long vide…
Robotic tasks involving contact interactions pose significant challenges for trajectory optimization due to discontinuous dynamics. Conventional formulations typically assume deterministic contact eve…
The deployment of medium-range battery electric aircraft is a promising pathway to improve the environmental footprint of air mobility. Yet such a deployment would be accompanied by significant electr…
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