17 citations · 34 across the 13 of their papers we have counts for
5 papers · 1 filter
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…