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We address the problem of optimally controlling Connected and Automated Vehicles (CAVs) arriving from four multi-lane roads at an intersection where they conflict in terms of safely crossing (including turns) with no collision. The…
Vehicle weaving on highways contributes to traffic congestion, raises safety issues, and underscores the need for sophisticated traffic management systems. Current tools are inadequate in offering precise and comprehensive data on…
Autonomous Micro Aerial Vehicles (MAVs) such as quadrotors equipped with manipulation mechanisms have the potential to assist humans in tasks such as construction and package delivery. Cables are a promising option for manipulation…
This paper proposes a novel control framework for cooperative transportation of cable-suspended loads by multiple unmanned aerial vehicles (UAVs) operating in constrained environments. Leveraging virtual tube theory and principles from…
In this work, we conduct a comparative study on two deep unfolding mechanisms to efficiently perform power control in the next generation wireless networks. The power control problem is formulated as energy efficiency over multiple…
Dynamic manipulation of free-end cables has applications for cable management in homes, warehouses and manufacturing plants. We present a supervised learning approach for dynamic manipulation of free-end cables, focusing on the problem of…
The challenge of navigation in environments with dynamic objects continues to be a central issue in the study of autonomous agents. While predictive methods hold promise, their reliance on precise state information makes them less practical…
Robotic manipulation of cloth is a challenging task due to the high dimensionality of the configuration space and the complexity of dynamics affected by various material properties. The effect of complex dynamics is even more pronounced in…
Audio-Visual Video Parsing (AVVP) entails the challenging task of localizing both uni-modal events (i.e., those occurring exclusively in either the visual or acoustic modality of a video) and multi-modal events (i.e., those occurring in…
Tracing - estimating the spatial state of - long deformable linear objects such as cables, threads, hoses, or ropes, is useful for a broad range of tasks in homes, retail, factories, construction, transportation, and healthcare. For long…
In human-robot interactions, eye movements play an important role in non-verbal communication. However, controlling the motions of a robotic eye that display similar performance as the human oculomotor system is still a major challenge. In…
The flight time of multirotor unmanned aerial vehicles (UAVs) is typically constrained by their high power consumption. Tethered power systems present a viable solution to extend flight times while maintaining the advantages of multirotor…
Learning visual representations with self-supervised learning has become popular in computer vision. The idea is to design auxiliary tasks where labels are free to obtain. Most of these tasks end up providing data to learn specific kinds of…
Inspired by sled-pulling dogs in transportation, we present a cable-trailer integrated with a quadruped robot system. The motion planning of this system faces challenges due to the interactions between the cable's state transitions, the…
Safe large-scale coordination of multiple cooperative connected autonomous vehicles (CAVs) hinges on communication that is both efficient and interpretable. Existing approaches either rely on transmitting high-bandwidth raw sensor data…
People can easily imagine the potential sound while seeing an event. This natural synchronization between audio and visual signals reveals their intrinsic correlations. To this end, we propose to learn the audio-visual correlations from the…
This paper focusses on the energy-efficient control of a cable-driven robot for tasks that only require precise positioning at few points in their motion, and where that accuracy can be obtained through contacts. This includes the majority…
Unrolled networks have become prevalent in various computer vision and imaging tasks. Although they have demonstrated remarkable efficacy in solving specific computer vision and computational imaging tasks, their adaptation to other…
In this paper, we investigate cooperative vehicle coordination for connected and automated vehicles (CAVs) at unsignalized intersections. To support high traffic throughput while reducing computational complexity, we present a novel…
Multi-view learning has become a popular research topic in recent years, but research on the cross-application of classic multi-label classification and multi-view learning is still in its early stages. In this paper, we focus on the…