Research
Research
Research
Research
48+ open-access research outputs.
This work introduces two lightweight model predictive control (MPC) approaches for attitude tracking with reaction wheels during spacecraft rendezvous synchronization. Both approaches are based on a n…
One of the main limitations of multirotor UAVs is their short flight time due to battery constraints. A practical solution for continuous operation is to power the drone from the ground via a tether. …
Loco-manipulation demands coordinated whole-body motion to manipulate objects effectively while maintaining locomotion stability, presenting significant challenges for both planning and control. In th…
Olive production is an important tree crop in Mediterranean climates. However, olive yield varies significantly due to climate change. Accurately estimating yield using remote sensing and machine lear…
This paper proposes an integrated equilibrium model to characterize the complex interactions between electrified logistics systems and electric power delivery systems. The model consists of two major …
With the Internet of Things (IoT) fostering seamless device-to-human and device-to-device interactions, the domain of intelligent lighting systems have evolved beyond simple occupancy and daylight sen…
Autonomous vehicles must negotiate with pedestrians in ways that are both safe and socially compliant. We present an interaction-aware model predictive decision-making (IAMPDM) framework that integrat…
Capacitive pressure sensors have several advantages in areas such as robotics, automation, aerospace, biomedical and consumer electronics. We present mathematical modelling, finite element analysis (F…
Robot swarms have the potential to help groups of people with social tasks, given their ability to scale to large numbers of robots and users. Developing multi-human-swarm interaction is therefore cru…
Background: Breast density, as derived from mammographic images and defined by the American College of Radiology's Breast Imaging Reporting and Data System (BI-RADS), is one of the strongest risk fact…
We present the implementation of a novel economic model predictive control (E-MPC) strategy for froth flotation, the largest tonnage mineral separation process. A previously calibrated and validated d…
This study presents GreenLight-Gym, a new, fast, open-source benchmark environment for developing reinforcement learning (RL) methods in greenhouse crop production control. Built on the state-of-the-a…
Navigating complex environments requires Unmanned Aerial Vehicles (UAVs) and autonomous systems to perform trajectory tracking and obstacle avoidance in real-time. While many control strategies have e…
This study introduces the development of hands-free control schemes for a riding ballbot, designed to allow riders including manual wheelchair users to control its movement through torso leaning and t…
Quadruped robots that individual researchers can build by themselves are crucial for expanding the scope of research due to their high scalability and customizability. These robots must be easily orde…
Zero-shot coordination (ZSC) is a significant challenge in multi-agent collaboration, aiming to develop agents that can coordinate with unseen partners they have not encountered before. Recent cutting…
It is challenging to accelerate the training process while ensuring both high-quality generated voices and acceptable inference speed. In this paper, we propose a novel neural vocoder called InstructS…
Ambulance exchange points are preidentified sites where patients are transferred between evacuation platforms while en route to enhanced medical care. We propose a new capability for maritime medical …
The parallelism afforded by GPUs presents significant advantages in training controllers through reinforcement learning (RL). However, integrating model-based optimization into this process remains ch…
In this paper, we propose a novel Risk-Aware Local Trajectory Planner (RALTPER) for autonomous vehicles in complex environments characterized by Gaussian uncertainty. The proposed method integrates ri…
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