231 citations · 293 across the 13 of their papers we have counts for
10 papers · 1 filter
LPV-MPC for Lateral Control in Full-Scale Autonomous Racing
Hassan Jardali, Ihab S. Mohamed, Durgakant Pushp +1
Autonomous racing has attracted significant attention recently, presenting challenges in selecting an optimal controller that operates within the onboard system's computational lim…
From Zero to High-Speed Racing: An Autonomous Racing Stack
Hassan Jardali, Durgakant Pushp, Youwei Yu +9
High-speed, head-to-head autonomous racing presents substantial technical and logistical challenges, including precise localization, rapid perception, dynamic planning, and real-ti…
Chance-Constrained Sampling-Based MPC for Collision Avoidance in Uncertain Dynamic Environments
Ihab S. Mohamed, Mahmoud Ali, Lantao Liu
Navigating safely in dynamic and uncertain environments is challenging due to uncertainties in perception and motion. This letter presents the Chance-Constrained Unscented Model Pr…
GP-guided MPPI for Efficient Navigation in Complex Unknown Cluttered Environments
Ihab S. Mohamed, Mahmoud Ali, Lantao Liu
Robotic navigation in unknown, cluttered environments with limited sensing capabilities poses significant challenges in robotics. Local trajectory optimization methods, such as Mod…
Towards Efficient MPPI Trajectory Generation with Unscented Guidance: U-MPPI Control Strategy
Ihab S. Mohamed, Junhong Xu, Gaurav S Sukhatme +1
The classical Model Predictive Path Integral (MPPI) control framework, while effective in many applications, lacks reliable safety features due to its reliance on a risk-neutral tr…
Autonomous Navigation of AGVs in Unknown Cluttered Environments: log-MPPI Control Strategy
Ihab S. Mohamed, Kai Yin, Lantao Liu
Sampling-based model predictive control (MPC) optimization methods, such as Model Predictive Path Integral (MPPI), have recently shown promising results in various robotic tasks. H…
MPPI-VS: Sampling-Based Model Predictive Control Strategy for Constrained Image-Based and Position-Based Visual Servoing
Ihab S. Mohamed
In this paper, we open up new avenues for visual servoing systems built upon the Path Integral (PI) optimal control theory, in which the non-linear partial differential equation (P…
Model Predictive Path Integral Control Framework for Partially Observable Navigation: A Quadrotor Case Study
Ihab S. Mohamed, Guillaume Allibert, Philippe Martinet
Recently, Model Predictive Path Integral (MPPI) control algorithm has been extensively applied to autonomous navigation tasks, where the cost map is mostly assumed to be known and…
A 2D laser rangefinder scans dataset of standard EUR pallets
Ihab S. Mohamed, Alessio Capitanelli, Fulvio Mastrogiovanni +2
In the past few years, the technology of automated guided vehicles (AGVs) has notably advanced. In particular, in the context of factory and warehouse automation, different approac…
Detection, localisation and tracking of pallets using machine learning techniques and 2D range data
Ihab S. Mohamed, Alessio Capitanelli, Fulvio Mastrogiovanni +2
The problem of autonomous transportation in industrial scenarios is receiving a renewed interest due to the way it can revolutionise internal logistics, especially in unstructured…