相关论文: System-Level Error Propagation and Tail-Risk Ampli…
This paper introduces a new method for robot motion planning and navigation in uneven environments through a surfel representation of underlying point clouds. The proposed method addresses the shortcomings of state-of-the-art navigation…
Despite the advances in aircraft guidance and control systems technology, Loss of Control remains as the main cause of the fatal accidents of large transport aircraft. Loss of Control is defined as excursion beyond the allowable flight…
The need for a systematic approach to risk assessment has increased in recent years due to the ubiquity of autonomous systems that alter our day-to-day experiences and their need for safety, e.g., for self-driving vehicles, mobile service…
Optimal-Transport Distributionally Robust Optimization (OT-DRO) robustifies data-driven decision-making under uncertainty by capturing the sampling-induced statistical error via optimal transport ambiguity sets. The standard OT-DRO pipeline…
We present a method for contraction-based feedback motion planning of locally incrementally exponentially stabilizable systems with unknown dynamics that provides probabilistic safety and reachability guarantees. Given a dynamics dataset,…
Evaluating the generalisation capabilities of multimodal models based solely on their performance on out-of-distribution data fails to capture their true robustness. This work introduces a comprehensive evaluation framework that…
Communication-aware robot planning requires accurate predictions of wireless network performance. Current approaches rely on channel-level metrics such as received signal strength and signal-to-noise ratio, assuming these translate reliably…
Trajectory planning in unstructured environments is a fundamental and challenging capability for mobile robots. Traditional modular pipelines suffer from latency and cascading errors across perception, localization, mapping, and planning…
Relaying has been extensively studied during the last decades and has found numerous applications in wireless communications. The simplest relaying method, namely amplify and forward, has shown potential in MIMO multiple access systems,…
There are two major categories of embodied navigation: Vision-Language Navigation (VLN), where agents navigate by following natural language instructions; and Object-Goal Navigation (OGN), where agents navigate to a specified target object.…
In this paper, we investigate the performance of bidirectional relay selection using amplify-and-forward protocol with imperfect channel state information, i.e., delay effect and channel estimation error. The asymptotic expression of…
Classical measures of structural reliability, such as the probability of failure and the related reliability index, are still widely applied in practice. However, these measures are frequency-based only, and they do not give information…
The present path loss models for wireless systems employing reconfigurable intelligent surfaces (RIS) do not account for the elevation of the transmitter, receiver, and RIS module. In this paper, we develop an analytical model for path loss…
High-dimensional nonlinear systems pose considerable challenges for modeling and control across many domains, from fluid mechanics to advanced robotics. Such systems are typically approximated with reduced-order models, which often rely on…
Vision-based locomotion in outdoor environments presents significant challenges for quadruped robots. Accurate environmental prediction and effective handling of depth sensor noise during real-world deployment remain difficult, severely…
This study investigates formal-method-based trajectory optimization (TO) for bipedal locomotion, focusing on scenarios where the robot encounters external perturbations at unforeseen times. Our key research question centers around the…
Topology optimization is used for the design of high-performance structures but remains fundamentally limited by its iterative nature, requiring repeated finite element analyses that prevent real-time deployment and large-scale design…
Car following models have been widely applied and made remarkable achievements in traffic engineering. However, the traffic micro-simulation accuracy of car following models in a platoon level, especially during traffic oscillations, still…
Safety-critical control using high-dimensional sensory feedback from optical data (e.g., images, point clouds) poses significant challenges in domains like autonomous driving and robotic surgery. Control can rely on low-dimensional states…
Object-Goal Navigation (ObjectNav) is a critical component toward deploying mobile robots in everyday, uncontrolled environments such as homes, schools, and workplaces. In this context, a robot must locate target objects in previously…