Research
Research
Research
Research
1,700+ open-access research outputs.
Accurate localization is a fundamental requirement for autonomous robots operating in indoor environments. Scene graphs encode the spatial structure of an environment as a hierarchy of semantic entiti…
Alberto Isidori's framework of geometric nonlinear control, and particularly of feedback linearization, is the inspiration behind PDE backstepping: apply a transfromation of the state to cast the plan…
Accurate segmentation and localization of left atrial (LA) ablation scars from Late gadolinium enhancement (LGE)-MRI is essential for assessing the lesion completeness and guiding ablation therapy. In…
Large 3D SIMP studies require repeated elasticity solves for density-dependent operators whose finest matrices are expensive to assemble and whose conditioning degrades under high contrast. We study t…
Contact variability, sensing uncertainty, and external disturbances make grasp execution stochastic. Expected-quality objectives ignore tail outcomes and often select grasps that fail under adverse co…
Graph-based representations such as Scene Graphs enable localization in structured indoor environments by matching a locally observed graph, constructed from sensor data, to a prior map. This process …
Doorways and passages are critical structural elements for indoor robot navigation, yet they remain underexplored in modern Visual SLAM (VSLAM) frameworks. This paper presents a passage-aware structur…
Humanoid robots operating in unstructured environments must recover from unexpected disturbances-a capability that remains challenging for end-to-end control policies. We present RECOVERFORMER, a full…
Recent navigation systems achieve strong benchmark results, yet real-world deployment often remains visibly stop-and-go. This bottleneck arises because the sense-inference-execution loop is still bloc…
Recent disruptions at major maritime chokepoints have exposed the structural fragility of liner shipping networks. Existing indicators measure connectivity, but none quantify its structural vulnerabil…
The matrix-free gather-batched-GEMM-scatter pattern eliminates global stiffness assembly for three-dimensional SIMP topology optimization, but the conventional three-stage implementation forces avoida…
Financial Transmission Rights (FTRs) enable electricity market participants to hedge congestion risk in Day Ahead Market (DAM) operations, but for the market to be solvent, Independent System Operator…
This paper establishes a sufficient condition for guaranteeing power flow solvability in distribution grids with inverter-based resources (IBRs) operating under IEEE 1547 compliant Volt-Var control. W…
Dielectric elastomer actuators (DEAs) have garnered extensive attention especially in soft robotic applications over the past few decades owing to the advantages of lightweight, large strain, fast res…
The high computational cost of approaching the performance of Maximum-likelihood (ML) decoding has limited its practical use for decades. Because the complexity grows exponentially with the message le…
The globally optimal robust adaptive beamforming (RAB) solution is studied for worst-case signal-to-interference-plus-noise ratio (SINR) maximization (the maximin SINR problem) under convex and closed…
We present a curated multi-platform LiDAR reference dataset from an instrumented ICOS forest plot, explicitly designed to support calibration, benchmarking, and integration of 3D structural data with …
Cardiovascular diseases account for around 17.9 million deaths per year globally, the treatment of which is challenging considering the confined space and complex topology of the vascular network and …
Safety filters provide a practical approach for enforcing safety constraints in autonomous systems. While learning-based tools scale to high-dimensional systems, their performance depends on informati…
Digital waveguide physical modeling offers efficient simulation of acoustic wave propagation as compared to general finite-difference schemes commonly used in computational physics. This efficiency ha…
Free open-access publishing with Google Scholar indexing.
Submission Guide →