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Set-point tracking for systems with unknown model parameters is a fundamental problem in control, and two-degree-of-freedom (2DOF) Proportional-Integral (PI) controllers -- consisting of a feedforward controller and PI controller -- are…
Multi-robot systems are widely used for coverage tasks that require efficient coordination across large environments. In Multi-Robot Coverage Path Planning (MCPP), the objective is typically to minimize the makespan by generating…
We present a safe-by-design approach to path planning and control for nonlinear systems. The planner uses a low fidelity model of the plant to compute reference trajectories by solving an MPC problem, while the plant being controlled…
Current state-of-the-art methods for panoptic segmentation require an immense amount of annotated training data that is both arduous and expensive to obtain posing a significant challenge for their widespread adoption. Concurrently, recent…
We consider the problem of finding collision-free paths for curvature-constrained systems in the presence of obstacles while minimizing execution time. Specifically, we focus on the setting where a planar system can travel at some range of…
Subspace identification methods (SIMs) have proven to be very useful and numerically robust for building state-space models. While most SIMs are consistent, few if any can achieve the efficiency of the maximum likelihood estimate (MLE).…
Pretrained foundation models learn embeddings that can be used for a wide range of downstream tasks. These embeddings optimise general performance, and if insufficiently accurate at a specific task the model can be fine-tuned to improve…
Planes are generally used in 3D reconstruction for depth sensors, such as RGB-D cameras and LiDARs. This paper focuses on the problem of estimating the optimal planes and sensor poses to minimize the point-to-plane distance. The resulting…
Despite their prominent performance on tasks such as ROI classification and segmentation, many pathology foundation models remain constrained by a specific input size e.g. 224 x 224, creating substantial inefficiencies when applied to…
Post-silicon clock tuning elements are widely used in high-performance designs to mitigate the effects of process variations and aging. Located on clock paths to flip-flops, these tuning elements can be configured through the scan chain so…
One challenge of legged locomotion on uneven terrains is to deal with both the discrete problem of selecting a contact surface for each footstep and the continuous problem of placing each footstep on the selected surface. Consequently,…
With advancing process technologies and booming IoT markets, millimeter-wave CMOS RFICs have been widely developed in re- cent years. Since the performance of CMOS RFICs is very sensi- tive to the precision of the layout, precise placement…
Pinching-antenna (PA) systems have recently emerged as a promising member of the flexible-antenna family due to their ability to dynamically establish line-of-sight (LoS) links. While most existing studies assume ideal environments without…
In digital circuit designs, sequential components such as flip-flops are used to synchronize signal propagations. Logic computations are aligned at and thus isolated by flip-flop stages. Although this fully synchronous style can reduce…
Traditional approaches for designing analog circuits are time-consuming and require significant human expertise. Existing automation efforts using methods like Bayesian Optimization (BO) and Reinforcement Learning (RL) are sub-optimal and…
To increase the speed of operation and reduce operator burden, humanoid robots must be able to function autonomously, even in complex, cluttered environments. For this to be possible, they must be able to quickly and efficiently compute…
Current visual navigation strategies mainly follow an exploration-first and then goal-directed navigation paradigm. This exploratory phase inevitably compromises the overall efficiency of navigation. Recent studies propose leveraging floor…
Many of the recent approaches to polyphonic piano note onset transcription require training a machine learning model on a large piano database. However, such approaches are limited by dataset availability; additional training data is…
We present a statistical-modelling method for piano reduction, i.e. converting an ensemble score into piano scores, that can control performance difficulty. While previous studies have focused on describing the condition for playable piano…
Pinching antenna (PA), a flexible waveguide integrated with dielectric particles, intelligently reconstructs line-of-sight channels. Utilizing its geometric deterministic model and meter-level reconstruction, PA systems (PASS) are applied…