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09/04/2023
Inverse Dynamics Trajectory Optimization for Contact-Implicit Model Predictive Control
Robots must make and break contact to interact with the world and perfor...
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08/03/2023
Multi-Carrier Modulation: An Evolution from Time-Frequency Domain to Delay-Doppler Domain
The recently proposed orthogonal delay-Doppler division multiplexing (OD...
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06/30/2023
Learning Evacuee Models from Robot-Guided Emergency Evacuation Experiments
Recent research has examined the possibility of using robots to guide ev...
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04/09/2023
Stable Real-Time Feedback Control of a Pneumatic Soft Robot
Soft actuators offer compliant and safe interaction with an unstructured...
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03/10/2023
Full State Estimation of Soft Robots From Tip Velocities: A Cosserat-Theoretic Boundary Observer
Soft robotics is a rapidly growing research area in robotics. Sensing of...
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02/28/2023
Multi-Robot-Guided Crowd Evacuation: Two-Scale Modeling and Control Based on Mean-Field Hydrodynamic Models
Emergency evacuation describes a complex situation involving time-critic...
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01/18/2023
Temporal Logic Motion Planning with Convex Optimization via Graphs of Convex Sets
Temporal logic is a concise way of specifying complex tasks. But motion ...
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01/17/2023
On Delay-Doppler Plane Orthogonal Pulse
In this paper, we analyze the recently discovered delay-Doppler plane or...
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11/07/2022
Error Performance of Rectangular Pulse-shaped OTFS with Practical Receivers
In this letter, we investigate error performance of rectangular pulse-sh...
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10/03/2022
Task Space Tracking of Soft Manipulators: Inner-Outer Loop Control Based on Cosserat-Rod Models
Soft robots are robotic systems made of deformable materials and exhibit...
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09/21/2022
CryptoSolve: Towards a Tool for the Symbolic Analysis of Cryptographic Algorithms
Recently, interest has been emerging in the application of symbolic tech...
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09/20/2022
Multi-Robot-Assisted Human Crowd Evacuation using Navigation Velocity Fields
This work studies a robot-assisted crowd evacuation problem where we con...
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07/06/2022
voxel2vec: A Natural Language Processing Approach to Learning Distributed Representations for Scientific Data
Relationships in scientific data, such as the numerical and spatial dist...
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06/28/2022
Orthogonal Delay-Doppler Division Multiplexing Modulation
Inspired by the orthogonal time frequency space (OTFS) modulation, in th...
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06/27/2022
Multicarrier Modulation on Delay-Doppler Plane: Achieving Orthogonality with Fine Resolutions
In this paper, we investigate the design of a novel multicarrier (MC) mo...
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05/27/2022
PSL is Dead. Long Live PSL
Property Specification Language (PSL) is a form of temporal logic that h...
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04/13/2022
Mixed-Integer Programming for Signal Temporal Logic with Fewer Binary Variables
Signal Temporal Logic (STL) provides a convenient way of encoding comple...
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03/25/2022
PDE-based Dynamic Control and Estimation of Soft Robotic Arms
Compared with traditional rigid-body robots, soft robots not only exhibi...
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03/04/2022
Robust Approximate Simulation for Hierarchical Control of Piecewise Affine Systems under Bounded Disturbances
Piecewise affine (PWA) systems are widely applied in many practical case...
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02/28/2022
Contact-Implicit Trajectory Optimization with Hydroelastic Contact and iLQR
Contact-implicit trajectory optimization offers an appealing method of a...
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09/27/2021
Control Barrier Functions for Singularity Avoidance in Passivity-Based Manipulator Control
Task-space Passivity-Based Control (PBC) for manipulation has numerous a...
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09/09/2021
Mini Cheetah, the Falling Cat: A Case Study in Machine Learning and Trajectory Optimization for Robot Acrobatics
Seemingly in defiance of basic physics, cats consistently land on their ...
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11/13/2020
Trajectory Optimization for High-Dimensional Nonlinear Systems under STL Specifications
Signal Temporal Logic (STL) has gained popularity in recent years as a s...
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09/14/2020
Automatic Trajectory Synthesis for Real-Time Temporal Logic
Many safety-critical systems must achieve high-level task specifications...
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07/16/2020
Specification mining and automated task planning for autonomous robots based on a graph-based spatial temporal logic
We aim to enable an autonomous robot to learn new skills from demo video...
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06/24/2020
Deep Reinforcement Learning for Joint Beamwidth and Power Optimization in mmWave Systems
This paper studies the joint beamwidth and transmit power optimization p...
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06/17/2020
Approximate Simulation for Template-Based Whole-Body Control
Reduced-order template models are widely used to control high degree-of-...
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06/09/2020
A Smooth Robustness Measure of Signal Temporal Logic for Symbolic Control
Recent years have seen an increasing use of Signal Temporal Logic (STL) ...
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02/24/2020
Ensuring Privacy in Location-Based Services: A Model-based Approach
In recent years, the widespread of mobile devices equipped with GPS and ...
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01/20/2020
A graph-based spatial temporal logic for knowledge representation and automated reasoning in cognitive robots
A new graph-based spatial temporal logic is proposed for knowledge repre...
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01/08/2020
Unsupervised Learning for Passive Beamforming
Reconfigurable intelligent surface (RIS) has recently emerged as a promi...
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09/23/2019
Kalman Filtering with Gaussian Processes Measurement Noise
Real-world measurement noise in applications like robotics is often corr...
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09/20/2019
Formal Connections between Template and Anchor Models via Approximate Simulation
Reduced-order template models like the Linear Inverted Pendulum (LIP) an...
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08/19/2019
A Co-analysis Framework for Exploring Multivariate Scientific Data
In complex multivariate data sets, different features usually include di...
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08/18/2019
Multivariate Spatial Data Visualization: A Survey
Multivariate spatial data plays an important role in computational scien...
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07/23/2019
An Overview of Enhanced Massive MIMO with Array Signal Processing Techniques
In the past ten years, there have been tremendous research progresses on...
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06/24/2019
Dynamic Network Embeddings for Network Evolution Analysis
Network embeddings learn to represent nodes as low-dimensional vectors t...
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05/08/2019
Bayesian Optimization for Polynomial Time Probabilistically Complete STL Trajectory Synthesis
In recent years, Signal Temporal Logic (STL) has gained traction as a pr...
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04/28/2019
Vector Autoregressive POMDP Model Learning and Planning for Human-Robot Collaboration
Human-robot collaboration (HRC) has emerged as a hot research area at th...
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03/04/2019
Beam Squint and Channel Estimation for Wideband mmWave Massive MIMO-OFDM Systems
With the increasing scale of antenna arrays in wideband millimeter-wave ...
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02/08/2019
Design of Non-Orthogonal Beamspace Multiple Access for Cellular Internet-of-Things
In this paper, we study the problem of massive connections over limited ...
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11/02/2018
Toward Verifiable Real-Time Obstacle Motion Prediction for Dynamic Collision Avoidance
Next generation Unmanned Aerial Vehicles (UAVs) must reliably avoid movi...
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07/18/2018
High-Mobility Wideband Massive MIMO Communications: Doppler Compensation, Analysis and Scaling Law
In this paper, we apply angle-domain Doppler compensation for high-mobil...
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07/02/2018
Perfectly Controllable Multi-Agent Networks
This note investigates how to design topology structures to ensure the c...
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04/03/2018
Symbol Detection of Ambient Backscatter Systems with Manchester Coding
Ambient backscatter communication is a newly emerged paradigm, which uti...
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03/30/2018
Reactive Supervisory Control of Open Discrete-event Systems
Traditional supervisory control theory of discrete-event systems mainly ...
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03/30/2018
POMDP Model Learning for Human Robot Collaboration
Recent years have seen human robot collaboration (HRC) quickly emerged a...
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03/29/2018
Scalable Integrated Task and Motion Planning from Signal Temporal Logic Specifications
This paper aims to develop formal methods to achieve a performance guara...
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02/27/2018
Privacy Preserving Controller Synthesis via Belief Abstraction
Privacy is a crucial concern in many systems in addition to their given ...
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02/27/2018