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Routine inspections for critical infrastructures such as bridges are required in most jurisdictions worldwide. Such routine inspections are largely visual in nature, which are qualitative, subjective, and not repeatable. Although robotic…
Indoor robotic systems within Cyber-Physical Systems (CPS) are increasingly exposed to Denial of Service (DoS) attacks that compromise localization, control and telemetry integrity. We propose a privacy-aware malware detection framework for…
Traditional approaches for active mapping focus on building geometric maps. For most real-world applications, however, actionable information is related to semantically meaningful objects in the environment. We propose an approach to the…
This paper presents visual and 3D structure inspection for steel structures and bridges using a developed climbing robot. The robot can move freely on a steel surface, carry sensors, collect data and then send to the ground station in real…
In this paper, we present a heterogeneous robot swarm system that can physically couple with each other to form functional structures and dynamically decouple to perform individual tasks. The connection between robots can be formed with a…
This paper considers the problem of safely coordinating a team of sensor-equipped robots to reduce uncertainty about a dynamical process, where the objective trades off information gain and energy cost. Optimizing this trade-off is…
Increasing demands on medical imaging departments are taking a toll on the radiologist's ability to deliver timely and accurate reports. Recent technological advances in artificial intelligence have demonstrated great potential for…
Calibrating robots into their workspaces is crucial for manipulation tasks. Existing calibration techniques often rely on sensors external to the robot (cameras, laser scanners, etc.) or specialized tools. This reliance complicates the…
Automotive radars are increasingly susceptible to mutual interference from neighboring radar systems, which can lead to false target detections and the masking of valid targets. While current interference levels remain manageable due to the…
Roadside units (RSUs) can help vehicles sense the traffic environment, so as to improve traffic safety. Since the sensing capability of single RSU is limited, we propose a multiple RSUs cooperative radar sensing network (RSU-CRSN) with…
Metasurface-based radar absorbing structures (RAS) are highly preferred for applications like stealth technology, electromagnetic (EM) shielding, etc. due to their capability to achieve frequency selective absorption characteristics with…
This paper addresses a synchronization problem that arises when a team of aerial robots (ARs) need to communicate while performing assigned tasks in a cooperative scenario. Each robot has a limited communication range and flies within a…
Reconfigurable electromagnetic structures (REMSs), such as reconfigurable reflectarrays (RRAs) or reconfigurable intelligent surfaces (RISs), hold significant potential to improve the spectral efficiency of wireless communication systems…
This paper analyzes monostatic sensing by a user equipment (UE) for a setting in which the UE is unable to resolve multiple targets due to their interference within a single resolution bin. It is shown how sensing accuracy, in terms of both…
Distributed phased Multiple-Input Multiple-Output (phased-MIMO) radar systems have attracted wide attention in target detection and tracking. However, the phase-shifting circuits in phased subarrays contribute to high power consumption and…
Humanoid robots offer significant advantages for search and rescue tasks, thanks to their capability to traverse rough terrains and perform transportation tasks. In this study, we present a task and motion planning framework for search and…
Passive Gamma Emission Tomography (PGET) is an IAEA-approved technique for verifying spent nuclear fuel assemblies prior to geological disposal. Reconstructing the emission and attenuation maps from PGET measurements is a nonlinear…
This literature review investigates how robots can be used for the maintenance of manmade structures, such as pipes, reinforced concrete decks, and space stations as a sampling of the broad spectrum of robotic non-destructive testing (NDT)…
In order to enable physical human-robot interaction where humans and (mobile) manipulators share their workspace and work together, robots have to be equipped with important capabilities to guarantee human safety. The robots have to…
In this work, we first describe a framework for the application of Reinforcement Learning (RL) control to a radar system that operates in a congested spectral setting. We then compare the utility of several RL algorithms through a…