Research
Research
Research
Research
120+ open-access research outputs.
This paper presents an equivariant filter (EqF) transformation approach for visual--inertial navigation. By establishing analytical links between EqFs with different symmetries, the proposed approach …
Robot model identification is commonly performed by least-squares regression on inverse dynamics, but existing formulations measure residuals directly in coordinate force space and therefore depend on…
Robotic guidance systems have shown promise in supporting blind and visually impaired (BVI) individuals with wayfinding and obstacle avoidance. However, most existing systems assume a clear path and d…
A significant challenge in service robots is the semantic understanding of their surrounding areas. Traditional approaches addressed this problem by segmenting the floor plan into regions correspondin…
Indoor traversability segmentation aims to identify safe, navigable free space for autonomous agents, which is critical for robotic navigation. Pure vision-based models often fail to detect thin obsta…
Gaussian inference on smooth manifolds is central to robotics, but exact marginalization and conditioning are generally non-Gaussian and geometry-dependent. We study tangent-linearized Gaussian infere…
We present a quadrotor dynamics Gaussian Process (GP) with gradient information that achieves real-time inference via state-space partitioning and approximation, and that includes aerodynamic effects …
This collection comprises the abstracts presented during poster, power pitch and oral sessions at the Inaugural Conference of the International Society for Tractography (IST Conference 2025), held in …
Afrobeats songs compete for attention on streaming platforms, where chart visibility can influence both revenue and cultural impact. This paper examines whether collaborations help songs remain on the…
Dynamic friction models (DFMs) encode essential information for the simulation and control of systems with friction. Traditionally, DFMs have been published with conceptual block diagrams, promoting c…
Robots operating in complex and uncertain environments face considerable challenges. Advanced robotic systems often rely on extensive datasets to learn manipulation tasks. In contrast, when humans are…
This work introduces audio2chart, a framework for the automatic generation of Guitar Hero style charts directly from raw audio. The task is formalized as a sequence prediction problem, where models ar…
Ferrohydrodynamic microfluidics relies on magnetic field gradients to manipulate diamagnetic particles in ferrofluid-filled microenvironments. It has emerged as a promising tool for label-free manipul…
This survey comprehensively reviews the evolving field of multi-robot collaborative Simultaneous Localization and Mapping (SLAM) using 3D Gaussian Splatting (3DGS). As an explicit scene representation…
We study switching among multiple square selections of output functions (melds) drawn from a deck of candidate outputs for nonlinear systems that are static feedback linearizable via outputs. Fixing a…
This paper presents a method for predictive aggregation of the available flexibility at the residential unit level into a flexibility chart that represents the admissible active and reactive powers, a…
Level set methods underpin modern safety techniques such as control barrier functions (CBFs), while also serving as implicit surface representations for geometric shapes via distance fields. Inspired …
In real-world stock markets, certain chart patterns -- such as price declines near historical highs -- cannot be fully explained by fundamentals alone. These phenomena suggest the presence of path dep…
Seamless loco-manipulation in unstructured environments requires robots to leverage autonomous exploration alongside whole-body control for physical interaction. In this work, we introduce HANDO (Hier…
In the beyond fifth-generation (B5G) and upcoming sixth-generation (6G) wireless communication systems, millimeter (mmWave) wave technology is a promising solution for offering additional bandwidth re…
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