4 papers
An expressiveness hierarchy of Behavior Trees and related architectures
Oliver Biggar, Mohammad Zamani, Iman Shames
In this paper we provide a formal framework for comparing the expressive power of Behavior Trees (BTs) to other action selection architectures. Taking inspiration from the analogou…
Inertial Collaborative Localisation for Autonomous Vehicles using a Minimum Energy Filter
Jack Henderson, Mohammad Zamani, Robert Mahony +1
Collaborative Localisation has been studied extensively in recent years as a way to improve pose estimation of unmanned aerial vehicles in challenging environments. However little…
Safe Learning of Uncertain Environments
Farhad Farokhi, Alex Leong, Iman Shames +1
In many learning based control methodologies, learning the unknown dynamic model precedes the control phase, while the aim is to control the system such that it remains in some saf…
A Minimum Energy Filter for Localisation of an Unmanned Aerial Vehicle
Jack Henderson, Mohammad Zamani, Robert Mahony +1
Accurate localisation of unmanned aerial vehicles is vital for the next generation of automation tasks. This paper proposes a minimum energy filter for velocity-aided pose estimati…