Research
Research
Research
Research
1,106+ open-access research outputs.
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…
This paper addresses the problem of traffic congestion management in fixed-wing unmanned aerial vehicle (UAV) corridors by further developing a recently introduced loiter-lane framework. A semi-cooper…
We present Move-Then-Operate, a Vision language action framework that explicitly decouples robotic manipulation into two distinct behavioral phases: coarse relocation (move) and contact-critical inter…
The Terahertz (THz) band (0.1-10 THz) has emerged as a critical frontier for future communication systems, offering ultra-wide bandwidths that enable Terabits-per-second (Tbps) wireless links and high…
Ensuring safety for black-box hybrid dynamical systems presents significant challenges due to their instantaneous state jumps and unknown explicit nonlinear dynamics. Existing solutions for strict saf…
Sub-gram flapping-wing flying insect robots (FIRs) are challenging to model because of mechanical complexity in their wings, unsteady aerodynamic flow, and the difficulty of making precise measurement…
Autonomous fixed-wing flight is becoming a key capability in aerial robotics, enabling sensing, mobility, and contingency operations across both small-scale Uncrewed Aircraft Systems and large-scale A…
Aerobat is a bat-inspired flapping-wing robot with a wing gait generate by the computational structure, a planar linkage of carbon fiber links driven by a single motor. This design minimizes weight bu…
Generalist embodied agents must perform interactive, causally-dependent reasoning, continually interacting with the environment, acquiring information, and updating plans to solve long-horizon tasks b…
Fungal protein materials exhibit inherently anisotropic microstructures formed by networks of hyphae, which suggest a natural pathway to replicate the fibrous texture of animal meat. We probe whether …
Even when providing long-run, worst-case guarantees to competing flows of unit-sized tasks, a slot-timed, constant-capacity server's scheduler may retain significant, short-run, scheduling flexibility…
We consider the energy-optimal control problem for double-integrator systems subject to state and control constraints, with fixed terminal time and free terminal speed. When the constraints become act…
Weaving ramps are critical bottlenecks in highway networks due to conflicting traffic flows and complex interactions among heterogeneous vehicle types. In mixed-autonomy settings, the presence of cont…
Prediction markets are starting to look less like crowd polls and more like electronic markets. The central question is therefore no longer only whether these markets forecast well, but what happens w…
Spatial single-loop mechanisms such as Bennett linkages offer a unique combination of one-degree-of-freedom actuation and nontrivial spatial trajectories, making them attractive for lightweight bio-in…
In rotary-wing aircraft, rotating blades are exposed to collisions and subsequent damage. The detection and isolation of blade damage constitute the first step in fault mitigation; however, they are p…
Data centers (DCs) are emerging as large, geographically distributed, controllable loads whose participation in electricity markets can significantly affect grid operation, especially when cloud platf…
AI agents are increasingly transacting on behalf of users -- delegating tasks, spending budgets, and negotiating with unfamiliar counterparties. From skill marketplaces to agent-only bazaars, the econ…
Experimental access to real honeybee colonies requires robotic systems capable of operating within limited spatial constraints, tolerating hive-specific fouling and environmental conditions, and suppo…
This paper presents a reinforcement learning-based path-following controller for a fixed-wing small uncrewed aircraft system (sUAS) that is robust to certain actuator failures. The controller is condi…
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