1 citations · 2 across the 5 of their papers we have counts for
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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…
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…
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…