Research
Research
Research
Research
36+ open-access research outputs.
The ensemble Kalman filter (EnKF) is widely used for nonlinear and high-dimensional state estimation because it replaces complex covariance propagation with simple ensemble statistics. However, conven…
Nonlinear extensions of the Kalman filter (KF), such as the extended Kalman filter (EKF) and the unscented Kalman filter (UKF), are indispensable for state estimation in complex dynamical systems, yet…
The recently introduced notions of ranking functions and closure certificates utilize well-foundedness arguments to facilitate the verification of dynamical systems against $\omega$-regular properties…
This study presents an internalized morphogenesis model for autonomous systems, such as swarm robotics and micro-nanomachines, that eliminates the need for external spatial computation. Traditional se…
Robotic systems operating in dynamic and uncertain environments increasingly require planners that satisfy complex task sequences while adhering to strict temporal constraints. Metric Interval Tempora…
In modal analysis, the prevalent use of Gaussian-based wavelets (such as Morlet and Gabor) for damping estimation is rarely questioned. In this study, we challenge this conventional approach by system…
Linear Temporal Logic (LTL) provides a rigorous framework for complex robotic tasks, yet existing methods often rely on accurate dynamics models or expensive online interactions. In this work, we addr…
A key challenge in abstraction-based verification and control under complex specifications such as Linear Temporal Logic (LTL) is that abstract models retain significantly less information than their …
System identification and Koopman spectral analysis are crucial for uncovering physical laws and understanding the long-term behaviour of stochastic dynamical systems governed by stochastic differenti…
This paper provides a discretization-free solution to the synthesis of approx-imation-free closed-form controllers for unknown nonlinear systems to enforce complex properties expressed by $\omega$-reg…
This work studies the planning problem for robotic systems under both quantifiable and unquantifiable uncertainty. The objective is to enable the robotic systems to optimally fulfill high-level tasks …
Stochastic games are fundamental in various applications, including the control of cyber-physical systems (CPS), where both controller and environment are modeled as players. Traditional algorithms ty…
Fundus Fluorescein Angiography (FFA) is a critical tool for assessing retinal vascular dynamics and aiding in the diagnosis of eye diseases. However, its invasive nature and less accessibility compare…
The Kalman filter (KF) is an optimal linear state estimator for linear systems, and numerous extensions, including the extended Kalman filter (EKF), unscented Kalman filter (UKF), and cubature Kalman …
Due to the complex physical properties of granular materials, research on robot learning for manipulating such materials predominantly either disregards the consideration of their physical characteris…
Surgical robot simulation platform plays a crucial role in enhancing training efficiency and advancing research on robot learning. Much effort have been made by scholars on developing open-sourced sur…
A fair beam allocation framework through reconfigurable intelligent surfaces (RISs) is proposed, incorporating the Max-min criterion. This framework focuses on designing explicit beamforming functiona…
Efficient coordination and planning is essential for large-scale multi-agent systems that collaborate in a shared dynamic environment. Heuristic search methods or learning-based approaches often lack …
Accurate 3D mitochondria instance segmentation in electron microscopy (EM) is a challenging problem and serves as a prerequisite to empirically analyze their distributions and morphology. Most existin…
Simulation is widely applied in robotics research to save time and resources. There have been several works to simulate optical tactile sensors that leverage either a smoothing method or Finite Elemen…
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