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The rising prevalence of real-time applications that require deterministic communication over mobile networks necessitates the joint operation of both mobile and fixed network components. This joint operation requires designing components…
This paper presents a robust and kernelized data-enabled predictive control (RoKDeePC) algorithm to perform model-free optimal control for nonlinear systems using only input and output data. The algorithm combines robust predictive control…
Simultaneous locomotion and manipulation enables robots to interact with their environment beyond the constraints of a fixed base. However, coordinating legged locomotion with arm manipulation, while considering safety and compliance during…
Within this work, we investigate how data-driven numerical approximation methods of the Koopman operator can be used in practical control engineering applications. We refer to the method Extended Dynamic Mode Decomposition (EDMD), which…
This paper investigates humanoid whole-body dexterous manipulation, where the efficient collection of high-quality demonstration data remains a central bottleneck. Existing teleoperation systems often suffer from limited portability,…
AI and robotics technologies have witnessed remarkable advancements in the past decade, revolutionizing work patterns and opportunities in various domains. The application of these technologies has propelled society towards an era of…
This paper describes our experiences creating Tornado: a practical and efficient heterogeneous programming framework for managed languages. The novel aspect of Tornado is that it turns the programming of heterogeneous systems from an…
Elasticity is highly desirable for stream processing systems to guarantee low latency against workload dynamics, such as surges in data arrival rate and fluctuations in data distribution. Existing systems achieve elasticity following a…
This work investigates an application-driven co-design problem where the motion and motors of a six degrees of freedom robotic manipulator are optimized simultaneously, and the application is characterized by a set of tasks. Unlike the…
As tools for designing multiple processor systems-on-chips (MPSoCs) continue to evolve to meet the demands of developers, there exist systematic gaps that must be bridged to provide a more cohesive hardware/software development environment.…
Rapid progress in high-level task planning and code generation for open-world robot manipulation has been witnessed in Embodied AI. However, previous studies put much effort into general common sense reasoning and task planning capabilities…
Automation engineering is the task of integrating, via software, various sensors, actuators, and controls for automating a real-world process. Today, automation engineering is supported by a suite of software tools including integrated…
With the ability of providing direct and accurate enough range measurements, light detection and ranging (LiDAR) is playing an essential role in localization and detection for autonomous vehicles. Since single LiDAR suffers from hardware…
Learning-based model predictive control has emerged as a powerful approach for handling complex dynamics in mechatronic systems, enabling data-driven performance improvements while respecting safety constraints. However, when computational…
Large language model (LLM) steering has emerged as a promising paradigm for controlling model behavior at inference time through targeted manipulation of hidden states, offering a lightweight alternative to expensive retraining. However,…
End-effector based assistive robots face persistent challenges in generating smooth and robust trajectories when controlled by human's noisy and unreliable biosignals such as muscle activities and brainwaves. The produced endpoint…
Collision-free navigation in cluttered environments with static and dynamic obstacles is essential for many multi-robot tasks. Dynamic obstacles may also be interactive, i.e., their behavior varies based on the behavior of other entities.…
A two-wheeled self-balancing robot is an example of an inverse pendulum and is an inherently non-linear, unstable system. The fundamental concept of the proposed framework "Epersist" is to overcome the challenge of counterbalancing an…
We propose a new asynchronous parallel block-descent algorithmic framework for the minimization of the sum of a smooth nonconvex function and a nonsmooth convex one, subject to both convex and nonconvex constraints. The proposed framework…
Decentralized multi-robot LiDAR-SLAM is essential for collaborative missions but faces significant challenges in maintaining global consistency. Existing frameworks predominantly rely on local-search optimization or one-time coordinate…