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In mm-wave networks, cell sizes are small due to high path and penetration losses. Mobiles need to frequently switch softly from one cell to another to preserve network connections and context. Each soft handover involves the mobile…
This paper investigates payload grasping from a moving platform using a hook-equipped aerial manipulator. First, a computationally efficient trajectory optimization based on complementarity constraints is proposed to determine the optimal…
For autonomous driving, traversability analysis is one of the most basic and essential tasks. In this paper, we propose a novel LiDAR-based terrain modeling approach, which could output stable, complete and accurate terrain models and…
Beamforming structures with fixed beam codebooks provide economical solutions for millimeter wave (mmWave) communications due to the low hardware cost. However, the training overhead to search for the optimal beamforming configuration is…
Beamforming-capable antenna arrays overcome the high free-space path loss at higher carrier frequencies. However, the beams must be properly aligned to ensure that the highest power is radiated towards (and received by) the user equipment…
In scientific and engineering scenarios, a recurring task is the detection of low-dimensional families of signals or patterns. A classic family of approaches, exemplified by template matching, aims to cover the search space with a dense…
This paper proposes a coordinate-free controller to drive a mobile robot to encircle a target at unknown position by only using range measurements. Different from the existing works, a backstepping based controller is proposed to encircle…
In the realm of unmanned aerial vehicle (UAV) tracking, Siamese-based approaches have gained traction due to their optimal balance between efficiency and precision. However, UAV scenarios often present challenges such as insufficient…
Time Series Foundation Models (TSFMs) have recently emerged as general-purpose forecasting models and show considerable potential for applications in energy systems. However, applications in critical infrastructure like power grids require…
Recently, Siamese network based trackers have received tremendous interest for their fast tracking speed and high performance. Despite the great success, this tracking framework still suffers from several limitations. First, it cannot…
In this paper the problem of guidance formulation for autonomous soft landing of unmanned aerial vehicles on stationary, moving, or accelerating / maneuvering ground vehicles at desired approach angles in both azimuth and elevation is…
The versatility of self-attention mechanism earned transformers great success in almost all data modalities, with limitations on the quadratic complexity and difficulty of training. To apply transformers across different data modalities,…
A fundamental problem for waveform-agile radar systems is that the true environment is unknown, and transmission policies which perform well for a particular tracking instance may be sub-optimal for another. Additionally, there is a limited…
Sampling-based planning is the predominant paradigm for motion planning in robotics. Most sampling-based planners use a global random sampling scheme to guarantee probabilistic completeness. However, most schemes are often inefficient as…
Demand for fast and economical parcel deliveries in urban environments has risen considerably in recent years. A framework envisions efficient last-mile delivery in urban environments by leveraging a network of ride-sharing vehicles, where…
High altitude balloons (HABs) are typically tracked via GPS data sent via real-time radio-based communication systems such as the Automated Packet Reporting System (APRS). Prefabricated APRS-compatible tracker modules have made it trivial…
This paper investigates trajectory prediction for robotics, to improve the interaction of robots with moving targets, such as catching a bouncing ball. Unexpected, highly-non-linear trajectories cannot easily be predicted with…
Extremely large-scale array (XL-array) has emerged as one promising technology to improve the spectral efficiency and spatial resolution of future sixth generation (6G) wireless systems.The upsurge in the antenna number antennas renders…
In this work, Transition Probability Matrix (TPM) is proposed as a new method for extracting the features of nodes in the graph. The proposed method uses random walks to capture the connectivity structure of a node's close neighborhood. The…
Terahertz (THz) massive multiple-input multipleoutput (MIMO) has been considered as one of the promising technologies for future 6G wireless communications. It is essential to obtain channel information by beam tracking scheme to track…