17 citations · 34 across the 13 of their papers we have counts for
15 papers
Collaborative Bearing Estimation Using Set Membership Methods
Mohammad Zamani, Jochen Trumpf, Chris Manzie
We consider the problem of collaborative bearing estimation using a method with historic roots in set theoretic estimation techniques. We refer to this method as the Convex Combina…
A Logistic Regression Approach to Field Estimation Using Binary Measurements
Alex S. Leong, Mohammad Zamani, Iman Shames
In this letter, we consider the problem of field estimation using binary measurements. Previous work has formulated the problem as a parameter estimation problem, with the paramete…
Modular Decomposition of Hierarchical Finite State Machines
Oliver Biggar, Behzad Zamani, Iman Shames
Hierarchical Finite State Machines (HFSMs) are a standard software-modelling concept which extends the classical Finite State Machine (FSM) notion with the useful abstraction of hi…
Learning Safety Filters for Unknown Discrete-Time Linear Systems
Farhad Farokhi, Alex S. Leong, Mohammad Zamani +1
A learning-based safety filter is developed for discrete-time linear time-invariant systems with unknown models subject to Gaussian noises with unknown covariance. Safety is charac…
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…
On modularity in reactive control architectures, with an application to formal verification
Oliver Biggar, Mohammad Zamani, Iman Shames
Modularity is a central principle throughout the design process for cyber-physical systems. Modularity reduces complexity and increases reuse of behavior. In this paper we pose and…
A principled analysis of Behavior Trees and their generalisations
Oliver Biggar, Mohammad Zamani, Iman Shames
As complex autonomous robotic systems become more widespread, the need for transparent and reusable Artificial Intelligence (AI) designs becomes more apparent. In this paper we ana…
A Minimum Energy Filter for Distributed Multirobot Localisation
Jack Henderson, Jochen Trumpf, Mohammad Zamani
We present a new approach to the cooperative localisation problem by applying the theory of minimum energy filtering. We consider the problem of estimating the pose of a group of m…
Cooperative Robust Estimation with Local Performance Guarantees
M. Zamani, V. Ugrinovskii
The paper considers the problem of cooperative estimation for a linear uncertain plant observed by a network of communicating sensors. We take a novel approach by treating the filt…
Nonlinear Attitude Filtering: A Comparison Study
M. Zamani, J. Trumpf, R. Mahony
This paper contains a concise comparison of a number of nonlinear attitude filtering methods that have attracted attention in the robotics and aviation literature. With the help of…
Minimum-Energy Distributed Consensus of Uncertain Agents
Mohammad Zamani, Iman Shames, Valery Ugrinovskii
This paper presents a consensus algorithm for a multi-agent system where each agent has access to its imperfect own state and neighboring state measurements. The measurements are s…
Minimum-Energy Distributed Filtering
Mohammad Zamani, Valery Ugrinovskii
The paper addresses the problem of distributed filtering with guaranteed convergence properties using minimum-energy filtering and filtering methodologies. A linear stat…