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Sparse-representation-based classification (SRC) has been widely studied and developed for various practical signal classification applications. However, the performance of a SRC-based method is degraded when both the training and test data…

With the expansive aging of global population, service robot with living assistance applied in indoor scenes will serve as a crucial role in the field of elderly care and health in the future. Service robots need to detect multiple targets…

This paper proposes an approach for controlling surgical robotic systems, while complying with the Remote Center of Motion (RCM) constraint in Robot-Assisted Minimally Invasive Surgery (RA-MIS). In this approach, the RCM-constraint is…

We propose a novel Parallel Monte Carlo tree search with Batched Simulations (PMBS) algorithm for accelerating long-horizon, episodic robotic planning tasks. Monte Carlo tree search (MCTS) is an effective heuristic search algorithm for…

This paper presents a chance-constrained formulation for robust trajectory optimization during manipulation. In particular, we present a chance-constrained optimization for Stochastic Discrete-time Linear Complementarity Systems (SDLCS). To…

Multi-object tracking systems often consist of a combination of a detector, a short term linker, a re-identification feature extractor and a solver that takes the output from these separate components and makes a final prediction.…

Precise sensor calibration is critical for autonomous vehicles as a prerequisite for perception algorithms to function properly. Rotation error of one degree can translate to position error of meters in target object detection at large…

Trajectory planning for multiple robots in shared environments is a challenging problem especially when there is limited communication available or no central entity. In this article, we present Real-time planning using Linear Spatial…

Class imbalance, where certain classes have insufficient data, poses a critical challenge for robust classification, often biasing models toward majority classes. Distribution calibration offers a promising avenue to address this by…

For an orthogonal frequency-division multiplexing (OFDM) system over a doubly selective (DS) channel, a large number of pilot subcarriers are needed to estimate the numerous channel parameters, resulting in low spectral efficiency. In this…

In this paper, we investigate the design of statistically robust detectors for multi-input multi-output (MIMO) systems subject to imperfect channel state information (CSI). A robust maximum likelihood (ML) detection problem is formulated by…

In Orthogonal Frequency Division Multiplexing (OFDM) Integrated Sensing and Communication (ISAC) systems, a key challenge is balancing sidelobe attenuation and resolution for multi-target detection scenarios. While windowing functions are…

Combinatorial optimization problems are encountered in many practical contexts such as logistics and production, but exact solutions are particularly difficult to find and usually NP-hard for considerable problem sizes. To compute…

Visual observation of objects is essential for many robotic applications, such as object reconstruction and manipulation, navigation, and scene understanding. Machine learning algorithms constitute the state-of-the-art in many fields but…

This article investigates the adaptive resource allocation scheme for digital twin (DT) synchronization optimization over dynamic wireless networks. In our considered model, a base station (BS) continuously collects factory physical object…

Recent advances show that Neural Architectural Search (NAS) method is able to find state-of-the-art image classification deep architectures. In this paper, we consider the one-shot NAS problem for resource constrained applications. This…

Optimal point-to-point trajectory planning for planar redundant manipulator is considered in this study. The main objective is to minimize the sum of the position error of the end-effector at each intermediate point along the trajectory so…

Safe autonomous driving critically depends on how well the ego-vehicle can predict the trajectories of neighboring vehicles. To this end, several trajectory prediction algorithms have been presented in the existing literature. Many of these…

Random search methods are widely used for global optimization due to their theoretical generality and implementation simplicity. This paper proposes a depth-first directional search (DFDS) algorithm for globally solving nonconvex…

Integrated sensing and communication (ISAC) is a promising candidate technology for 6G due to its improvement in spectral efficiency and energy efficiency. Orthogonal frequency division multiplexing (OFDM) signal is a mainstream candidate…