Research
Research
Research
Research
18,026+ open-access research outputs.
The robotic manipulation of Deformable Linear Objects (DLOs) is a fundamental challenge due to the high-dimensional, non-linear dynamics of flexible structures and the complexity of maintaining topolo…
Dense, dynamic crowds pose a persistent challenge for autonomous mobile robots. Purely reactive planning methods, such as Model Predictive Path Integral (MPPI) control, often fail to escape local mini…
Simulating optical tactile sensors presents significant challenges due to their high deformability and intricate optical properties. To address these issues and enable a physically accurate simulation…
The emergence of movable antenna (MA) technology provides a promising way to enhance wireless sensing and communication by introducing spatial degrees of freedom through dynamic array reconfiguration.…
Hyperspectral image (HSI) and SAR/LiDAR data offer complementary spectral and structural information for land-cover classification. However, their effective fusion remains challenging due to two major…
Contact-rich manipulation is challenging due to its high dimensionality, the requirement for long time horizons, and the presence of hybrid contact dynamics. Sampling-based methods have become a popul…
Origami-inspired robotic grippers have shown promising potential for object manipulation tasks due to their compact volume and mechanical flexibility. However, robust capture of objects with random sh…
Approximating collision-free space is fundamental to robot planning in complex environments. Convex geometric representations, such as polytopes and ellipsoids, are widely employed due to their struct…
Power electronic converters are fundamental building blocks of both AC and DC microgrids, enabling the integration of renewable energy sources, energy storage systems, electronic loads, and electric v…
Reliable backup localization for unmanned aerial vehicles (UAVs) operating in GNSS-denied nighttime conditions remains an open challenge due to the severe modality gap between daytime RGB maps and nig…
This paper presents the optimal-control suggestion for congestion on freeways using data assimilation (DA) of distributed fiber-optic sensing (DFOS). To simultaneously maximize throughput and avoid/mi…
Federated inference enhances LLM performance in edge computing through weighted averaging of distributed model predictions. However, autoregressive LLM inference requires frequent full-model forward p…
Tendon-Driven Continuum Robots (TDCRs) pose significant control challenges due to their highly nonlinear, path-dependent dynamics and non-Markovian characteristics. Traditional Jacobian-based controll…
Tendon-Driven Continuum Robots (TDCRs) pose significant modeling and control challenges due to complex nonlinearities, such as frictional hysteresis and transmission compliance. This paper proposes a …
Reliable estimation of neuromuscular activation is a key enabler for adaptive and personalized control in wearable robotics. However, surface electromyography (EMG) remains difficult to deploy robustl…
Robot-assisted Transcranial Magnetic Stimulation (Robo-TMS) is an image-guided robotic intervention that enhances the accuracy and reproducibility of conventional Transcranial Magnetic Stimulation (TM…
Collision-free motion is often aided by tactile and proximity sensors distributed on the body of the robot due to their resistance to occlusion as opposed to external cameras. However, how to shape th…
Embodied AI research is undergoing a shift toward vision-centric perceptual paradigms. While massively parallel simulators have catalyzed breakthroughs in proprioception-based locomotion, their potent…
Metasurfaces' ability to control electromagnetic wave propagation has led to a rapid paradigm shift in wireless operation. These metasurfaces are often called reconfigurable intelligent surfaces (RISs…
In this paper, a broadband 1-bit coding metasurface-based reconfigurable intelligent surface (RIS) is presented. The unit cell of the metasurface consists of a wide dipole modified with interdigital c…
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