Related papers: Autonomously Unweaving Multiple Cables Using Visua…
This paper considers downlink multicast transmit beamforming for secure layered transmission systems with wireless simultaneous information and power transfer. We study the power allocation algorithm design for minimizing the total transmit…
This work presents an event-triggered switching control framework for a class of nonlinear underactuated multi-channel systems with input constraints. These systems are inspired by cooperative manipulation tasks involving underactuation,…
We present a multi-robot system for GPS-denied search and rescue under the forest canopy. Forests are particularly challenging environments for collaborative exploration and mapping, in large part due to the existence of severe perceptual…
Cable/rope elements are pervasive in deformable-object manipulation, often serving as a deformable force-transmission medium whose routing and contact determine how wrenches are delivered. In cable-towed manipulation, transmission is…
Citrus segmentation is a key step of automatic citrus picking. While most current image segmentation approaches achieve good segmentation results by pixel-wise segmentation, these supervised learning-based methods require a large amount of…
This paper investigates the safe platoon formation tracking and merging control problem of connected and automated vehicles (CAVs) on curved multi-lane roads. The first novelty is the separation of the control designs into two distinct…
This paper presents a simple and effective visual prompting method for adapting pre-trained models to downstream recognition tasks. Our method includes two key designs. First, rather than directly adding together the prompt and the image,…
Connected autonomous vehicles (CAVs) must simultaneously perform multiple tasks, such as object detection, semantic segmentation, depth estimation, trajectory prediction, motion prediction, and behaviour prediction, to ensure safe and…
Mobility may degrade the performance of next-generation vehicular networks operating at the millimeter-wave spectrum: frequent mis-alignment and blockages require repeated beam training and handover, and incur enormous overhead.…
Existing image generation models face critical challenges regarding the trade-off between computation and fidelity. Specifically, models relying on a pretrained Variational Autoencoder (VAE) suffer from information loss, limited detail, and…
In this paper, we present a hierarchical framework that integrates upper-level routing with low-level optimal trajectory planning for connected and automated vehicles (CAVs) traveling in an urban network. The upper-level controller…
Millimeter-wave (mmwave) communication represents a potential solution to capacity shortage in vehicular networks. However, effective beam alignment between senders and receivers requires accurate knowledge of the vehicles' position for…
We propose cross-modal attentive connections, a new dynamic and effective technique for multimodal representation learning from wearable data. Our solution can be integrated into any stage of the pipeline, i.e., after any convolutional…
This paper introduces a novel methodology for the cooperative control of multiple quadrotors transporting cablesuspended payloads, emphasizing obstacle-aware planning and event-based Nonlinear Model Predictive Control (NMPC). Our approach…
Industrial assembly of deformable linear objects (DLOs) such as cables offers great potential for many industries. However, DLOs pose several challenges for robot-based automation due to the inherent complexity of deformation and,…
Connected automated vehicles (CAVs) have brought new opportunities to improve traffic throughput and reduce energy consumption. However, the uncertain lane-change behaviors (LCBs) of surrounding vehicles (SVs) as an uncontrollable factor…
In this paper, we develop an algorithm for joint handover and beam tracking in millimeter-wave (mmWave) networks. The aim is to provide a reliable connection in terms of the achieved throughput along the trajectory of the mobile user while…
The blockage is a key challenge for millimeter wave communication systems, since these systems mainly work on line-of-sight (LOS) links, and the blockage can degrade the system performance significantly. It is recently found that visual…
Adaptive subtraction is a key element in predictive multiple-suppression methods. It minimizes misalignments and amplitude differences between modeled and actual multiples, and thus reduces multiple contamination in the dataset after…
Developing Audio-Visual Large Language Models (AV-LLMs) for unified scene understanding is pivotal in multimodal intelligence. While instruction tuning enables pre-trained models with multi-task abilities, we observe that conventional…