142 citations · 391 across the 17 of their papers we have counts for
17 papers
Learning to Optimize Package Picking for Large-Scale, Real-World Robot Induction
Shuai Li, Azarakhsh Keipour, Sicong Zhao +3
Warehouse automation plays a pivotal role in enhancing operational efficiency, minimizing costs, and improving resilience to workforce variability. While prior research has demonst…
Pick Planning Strategies for Large-Scale Package Manipulation
Shuai Li, Azarakhsh Keipour, Kevin Jamieson +4
Automating warehouse operations can reduce logistics overhead costs, ultimately driving down the final price for consumers, increasing the speed of delivery, and enhancing the resi…
Demonstrating Large-Scale Package Manipulation via Learned Metrics of Pick Success
Shuai Li, Azarakhsh Keipour, Kevin Jamieson +3
Automating warehouse operations can reduce logistics overhead costs, ultimately driving down the final price for consumers, increasing the speed of delivery, and enhancing the resi…
A Simulator for Fully-Actuated UAVs
Azarakhsh Keipour, Mohammadreza Mousaei, Sebastian Scherer
This workshop paper presents the challenges we encountered when simulating fully-actuated Unmanned Aerial Vehicles (UAVs) for our research and the solutions we developed to overcom…
UAS Simulator for Modeling, Analysis and Control in Free Flight and Physical Interaction
Azarakhsh Keipour, Mohammadreza Mousaei, Dongwei Bai +2
This paper presents the ARCAD simulator for the rapid development of Unmanned Aerial Systems (UAS), including underactuated and fully-actuated multirotors, fixed-wing aircraft, and…
Physical Interaction and Manipulation of the Environment using Aerial Robots
Azarakhsh Keipour
The physical interaction of aerial robots with their environment has countless potential applications and is an emerging area with many open challenges. Fully-actuated multirotors…
VTOL Failure Detection and Recovery by Utilizing Redundancy
Mohammadreza Mousaei, Azarakhsh Keipour, Junyi Geng +1
Offering vertical take-off and landing (VTOL) capabilities and the ability to travel great distances are crucial for Urban Air Mobility (UAM) vehicles. These capabilities make hybr…
Detection and Physical Interaction with Deformable Linear Objects
Azarakhsh Keipour, Mohammadreza Mousaei, Maryam Bandari +2
Deformable linear objects (e.g., cables, ropes, and threads) commonly appear in our everyday lives. However, perception of these objects and the study of physical interaction with…
Design, Modeling and Control for a Tilt-rotor VTOL UAV in the Presence of Actuator Failure
Mohammadreza Mousaei, Junyi Geng, Azarakhsh Keipour +2
Enabling vertical take-off and landing while providing the ability to fly long ranges opens the door to a wide range of new real-world aircraft applications while improving many ex…
Omnifont Persian OCR System Using Primitives
Azarakhsh Keipour, Mohammad Eshghi, Sina Mohammadzadeh Ghadikolaei +2
In this paper, we introduce a model-based omnifont Persian OCR system. The system uses a set of 8 primitive elements as structural features for recognition. First, the scanned docu…
Efficient Spatial Representation and Routing of Deformable One-Dimensional Objects for Manipulation
Azarakhsh Keipour, Maryam Bandari, Stefan Schaal
With the field of rigid-body robotics having matured in the last fifty years, routing, planning, and manipulation of deformable objects have recently emerged as a more untouched re…
Deformable One-Dimensional Object Detection for Routing and Manipulation
Azarakhsh Keipour, Maryam Bandari, Stefan Schaal
Many methods exist to model and track deformable one-dimensional objects (e.g., cables, ropes, and threads) across a stream of video frames. However, these methods depend on the ex…
Visual Servoing Approach for Autonomous UAV Landing on a Moving Vehicle
Azarakhsh Keipour, Guilherme A. S. Pereira, Rogerio Bonatti +4
Many aerial robotic applications require the ability to land on moving platforms, such as delivery trucks and marine research boats. We present a method to autonomously land an Unm…
Real-Time Ellipse Detection for Robotics Applications
Azarakhsh Keipour, Guilherme A. S. Pereira, Sebastian Scherer
We propose a new algorithm for real-time detection and tracking of elliptic patterns suitable for real-world robotics applications. The method fits ellipses to each contour in the…
Integration of Fully-Actuated Multirotors into Real-World Applications
Azarakhsh Keipour, Mohammadreza Mousaei, Andrew T Ashley +1
The introduction of fully-actuated multirotors has opened the door to new possibilities and more efficient solutions to many real-world applications. However, their integration had…
ALFA: A Dataset for UAV Fault and Anomaly Detection
Azarakhsh Keipour, Mohammadreza Mousaei, Sebastian Scherer
We present a dataset of several fault types in control surfaces of a fixed-wing Unmanned Aerial Vehicle (UAV) for use in Fault Detection and Isolation (FDI) and Anomaly Detection (…
Automatic Real-time Anomaly Detection for Autonomous Aerial Vehicles
Azarakhsh Keipour, Mohammadreza Mousaei, Sebastian Scherer
The recent increase in the use of aerial vehicles raises concerns about the safety and reliability of autonomous operations. There is a growing need for methods to monitor the stat…