11 citations · 27 across the 12 of their papers we have counts for
12 papers
Trusted Polytopic Action Sets for Fast Planning in Underactuated Systems
Akshay Jaitly, Siavash Farzan
Underactuated systems pose a challenge for convex motion planning because their dynamically feasible motions lie on a manifold of trajectories in function space. Building on our ea…
Progress-Based Fault Detection and Health-Aware Task Allocation for Heterogeneous Multi-Robot Systems
Jack Cline, Christian Macaranas, Siavash Farzan
We present a progress-based fault detection module and its integration with dynamic task allocation for heterogeneous robot teams. The detector monitors a normalized task-completio…
A MILP-Based Solution to Multi-Agent Motion Planning and Collision Avoidance in Constrained Environments
Akshay Jaitly, Jack Cline, Siavash Farzan
We propose a mixed-integer linear program (MILP) for multi-agent motion planning that embeds Polytopic Action-based Motion Planning (PAAMP) into a sequence-then-solve pipeline. Reg…
NDKF: A Neural-Enhanced Distributed Kalman Filter for Nonlinear Multi-Sensor Estimation
Siavash Farzan, Bennett Parisi
We propose a Neural-Enhanced Distributed Kalman Filter (NDKF) for multi-sensor state estimation in nonlinear systems. Unlike traditional Kalman filters that rely on explicit analyt…
Safety-Critical Formation Control of Non-Holonomic Multi-Robot Systems in Communication-Limited Environments
Vishrut Bohara, Siavash Farzan
This paper introduces a decentralized estimator-based safety-critical controller designed for formation control of non-holonomic mobile robots operating in communication-constraine…
Learning-Based Design of Off-Policy Gaussian Controllers: Integrating Model Predictive Control and Gaussian Process Regression
Shiva Kumar Tekumatla, Varun Gampa, Siavash Farzan
This paper presents an off-policy Gaussian Predictive Control (GPC) framework aimed at solving optimal control problems with a smaller computational footprint, thereby facilitating…
PAAMP: Polytopic Action-Set And Motion Planning for Long Horizon Dynamic Motion Planning via Mixed Integer Linear Programming
Akshay Jaitly, Siavash Farzan
Optimization methods for long-horizon, dynamically feasible motion planning in robotics tackle challenging non-convex and discontinuous optimization problems. Traditional methods o…
Project-Based Learning for Robot Control Theory: A Robot Operating System (ROS) Based Approach
Siavash Farzan
Control theory is an important cornerstone of the robotics field and is considered a fundamental subject in an undergraduate and postgraduate robotics curriculum. Furthermore, proj…
Adaptive Estimation-Based Safety-Critical Cruise Control of Vehicular Platoons
Vishrut Bohara, Siavash Farzan
Optimal cruise control design can increase highway throughput and vehicle safety in traffic flow. In most heterogeneous platoons, the absence of vehicle-to-vehicle (V2V) communicat…
Cable Estimation-Based Control for Wire-Borne Underactuated Brachiating Robots: A Combined Direct-Indirect Adaptive Robust Approach
Siavash Farzan, Vahid Azimi, Ai-Ping Hu +1
In this paper, we present an online adaptive robust control framework for underactuated brachiating robots traversing flexible cables. Since the dynamic model of a flexible body is…
Robust Control Synthesis and Verification for Wire-Borne Underactuated Brachiating Robots Using Sum-of-Squares Optimization
Siavash Farzan, Ai-Ping Hu, Michael Bick +1
Control of wire-borne underactuated brachiating robots requires a robust feedback control design that can deal with dynamic uncertainties, actuator constraints and unmeasurable sta…
Path Planning in Dynamic Environments Using Time-Warped Grids and a Parallel Implementation
Siavash Farzan, Guilherme N. DeSouza
This paper proposes a solution to the problem of smooth path planning for mobile robots in dynamic and unknown environments. A novel concept of Time-Warped Grid is introduced to pr…