4 citations · 16 across the 28 of their papers we have counts for
32 papers
Deep and Decentralized Multi-Agent Coverage of a Target with Unknown Distribution
Hossein Rastgoftar
This paper proposes a new architecture for multi-agent systems to cover an unknowingly distributed fast, safely, and decentralizedly. The inter-agent communication is organized by…
Deep Continuum Deformation Coordination and Optimization with Safety Guarantees
Harshvardhan Uppaluru, Hossein Rastgoftar
In this paper, we develop and present a novel strategy for safe coordination of a large-scale multi-agent team with ``\textit{local deformation}" capabilities. Multi-agent coordina…
Multi-Layer Continuum Deformation Optimization of Multi-Agent Systems
Harshvardhan Uppaluru, Hossein Rastgoftar
This paper studies the problem of safe and optimal continuum deformation of a large-scale multi-agent system (MAS). We present a novel approach for MAS continuum deformation coordi…
Can a Laplace PDE Define Air Corridors through Low-Altitude Airspace?
Aeris El Asslouj, Ella Atkins, Hossein Rastgoftar
This paper develops a high-density air corridor traffic flow model for Uncrewed Aircraft System (UAS) operation in urban low altitude airspace. To maximize throughput with safe sep…
Multi-Agent Coordination Fluid Flow Modeling and Experimental Evaluation
Harshvardhan Uppaluru, Mohammad Ghuran, Hossein Rastgoftar
Reliability is a critical aspect of multi-agent system coordination as it ensures that the system functions correctly and consistently. If one agent in the system fails or behaves…
Quadcopter Tracking Using Euler-Angle-Free Flatness-Based Control
Aeris El Asslouj, Hossein Rastgoftar
Quadcopter trajectory tracking control has been extensively investigated and implemented in the past. Available controls mostly use the Euler angle standards to describe the quadco…
Fast and Safe Aerial Payload Transport in Urban Areas
Aeris El Asslouj, Harshvardhan Uppaluru, Hossein Rastgoftar
This paper studies the problem of fast and safe aerial payload transport by a single quadcopter in urban areas. The quadcopter payload system (QPS) is considered as a rigid body an…
A Finite-State Fixed-Corridor Model for UAS Traffic Management
Hamid Emadi, Ella Atkins, Hossein Rastgoftar
This paper proposes a physics-inspired solution for low altitude Unmanned Aircraft System (UAS) Traffic Management (UTM) in urban areas. We decompose UTM into spatial and temporal…
A Concurrent Switching Model for Traffic Congestion Control
Hossein Rastgoftar, Xun Liu, Jean-Baptiste Jeannin
We introduce a new conservation-based approach for traffic coordination modeling and control in a network of interconnected roads (NOIR) with switching movement phase rotations at…
Quadrotor Formation Flying Resilient to Abrupt Vehicle Failures via a Fluid Flow Navigation Function
Matthew Romano, Harshvardhan Uppaluru, Hossein Rastgoftar +1
This paper develops and experimentally evaluates a navigation function for quadrotor formation flight that is resilient to abrupt quadrotor failures and other obstacles. The naviga…
Real-Time Deployment of a Large-Scale Multi-Quadcopter System (MQS)
Hossein Rastgoftar
This paper presents a continuum mechanics-based approach for real-time deployment (RTD) of a multi-quadcopter system between moving initial and final configurations arbitrarily dis…
Drones Practicing Mechanics
Harshvardhan Uppaluru, Hossein Rastgoftar
Mechanics of materials is a classic course of engineering presenting the fundamentals of strain and stress analysis to junior undergraduate students in several engineering majors.…
A Continuous-Time Optimal Control Approach to Congestion Control
Harshvardhan Uppaluru, Hamid Emadi, Hossein Rastgoftar
Traffic congestion has become a nightmare to modern life in metropolitan cities. On average, a driver spending X hours a year stuck in traffic is one of most common sentences we of…
Collision-Free Continuum Deformation Coordination of a Multi-Quadcopter System Using Cooperative Localization
Hamid Emadi, Harshvardhan Uppaluru, Hashem Ashrafiuon +1
This paper integrates cooperative localization with continuum deformation coordination of a multi-quadcopter system {(MQS) to assure safety and optimality of the quadcopter team co…
A Physics-Based Data-Driven Approach for Finite Time Estimation of Pandemic Growth
Harshvardhan Uppaluru, Hamid Emadi, Hossein Rastgoftar
COVID-19 is a global health crisis that has had unprecedented, widespread impact on households across the United States and has been declared a global pandemic on March 11, 2020 by…
A Physics-Based Safety Recovery Approach for Fault-Resilient Multi-Quadcopter Coordination
Hamid Emadi, Harshvardhan Uppaluru, Hossein Rastgoftar
This paper develops a novel physics-based approach for fault-resilient multi-quadcopter coordination in the presence of abrupt quadcopter failure. Our approach consists of two main…
Continuum Deformation Coordination of Multi-Agent Systems Using Cooperative Localization
Hossein Rastgoftar, Sergey Nersesov, Hashem Ashrafiuon
This paper studies the problem of decentralized continuum deformation coordination of multi-agent systems aided by cooperative localization. We treat agents as particles inside a t…
Safe Affine Transformation-Based Guidance of a Large-Scale Multi-Quadcopter System (MQS)
Hossein Rastgoftar, Ilya Kolmanovsky
This paper studies the problem of affine transformation-based guidance of a multi-quadcopter system (MQS) in an obstacle-laden environment. Such MQSs can perform a variety of coope…
Integration of A-Star Search and Classic Optimal Control for Safe Planning of Continuum Deformation of a Multi-Quadcopter System
Hossein Rastgoftar
This paper offers an algorithmic approach to plan continuum deformation of a multi-quadcopter system (MQS) in an obstacle-laden environment. We treat the MQS as finite number of pa…
Boundary Control of Traffic Congestion Modeled as a Non-stationary Stochastic Process
Xun Liu, Hossein Rastgoftar
In this paper, we introduce a new conservation-based approach to model traffic dynamics, and apply the model predictive control (MPC) approach to control the boundary traffic inflo…
Conservation-Based Modeling and Boundary Control of Congestion with an Application to Traffic Management in Center City Philadelphia
Xun Liu, Hossein Rastgoftar
This paper develops a conservation-based approach to model traffic dynamics and alleviate traffic congestion in a network of interconnected roads (NOIR). We generate a NOIR by usin…
A Physics-Based Finite-State Abstraction for Traffic Congestion Control
Hossein Rastgoftar, Jean-Baptiste Jeannin
This paper offers a finite-state abstraction of traffic coordination and congestion in a network of interconnected roads (NOIR). By applying mass conservation, we model traffic coo…
Scalable Vehicle Team Continuum Deformation Coordination with Eigen Decomposition
Hossein Rastgoftar, Ella M. Atkins, Ilya Kolmanovsky
The continuum deformation leader-follower cooperative control strategy models vehicles in a multi-agent system as particles of a deformable body. A desired continuum deformation is…
An Integrative Data-Driven Physics-Inspired Approach to Traffic Congestion Control
Hossein Rastgoftar, Ella Atkins
This paper offers an integrative data-driven physics-inspired approach to model and control traffic congestion in a resilient and efficient manner. While existing physics-based app…