197 citations · 820 across the 24 of their papers we have counts for
11 papers · 1 filter
Automated Rendezvous & Docking Using 3D Vision
Farhad Aghili
The robustness and accuracy of a vision system for motion estimation of a tumbling target satellite are enhanced by an adaptive Kalman filter. This allows a vision-guided robot to…
Control and Simulation of Motion of Constrained Multibody Systems Based on Projection Matrix Formulation
Farhad Aghili
This paper presents a unified approach for inverse and direct dynamics of constrained multibody systems that can serve as a basis for analysis, simulation, and control. The main ad…
Hybrid Simulator for Space Docking and Robotic Proximity Operations
Farhad Aghili
In this work, we present a hybrid simulator for space docking and robotic proximity operations methodology. This methodology also allows for the emulation of a target robot operati…
Six-DOF Spacecraft Dynamics Simulator For Testing Translation and Attitude Control
Farhad Aghili
This paper presents a method to control a manipulator system grasping a rigid-body payload so that the motion of the combined system in consequence of externally applied forces to…
Adaptive Machine Learning for Cooperative Manipulators
Farhad Aghili
The problem of self-tuning control of cooperative manipulators forming a closed kinematic chain in the presence of an inaccurate kinematics model is addressed using adaptive machin…
Adaptive Visual Servo Control for Autonomous Robots
Farhad Aghili
This paper focuses on an adaptive and fault-tolerant vision-guided robotic system that enables to choose the most appropriate control action if partial or complete failure of the v…
Robust 3D Vision for Autonomous Robots
Farhad Aghili
This paper presents a fault-tolerant 3D vision system for autonomous robotic operation. In particular, pose estimation of space objects is achieved using 3D vision data in an integ…
Lidar SLAM for Autonomous Driving Vehicles
Farhad Aghili
This paper presents Lidar-based Simultaneous Localization and Mapping (SLAM) for autonomous driving vehicles. Fusing data from landmark sensors and a strap-down Inertial Measuremen…
Autonomous Driving Vehicles Using Adaptive Learning Method for Data Fusion
Farhad Aghili
This paper presents an adaptive learning method for data fusion in autonomous driving vehicles. The localization is based on the integration of Inertial Measurement Unit (IMU) with…
Machine Learning for LiDAR-Based Navigation System
Farhad Aghili
This paper presents a robust 6-DOF relative navigation by combining the iterative closet point (ICP) registration algorithm and a noise-adaptive Kalman filter (AKF) in a closed-loo…
Optimal Control of Legged-Robots Subject to Friction Cone Constraints
Farhad Aghili
A hierarchical control architecture is presented for energy-efficient control of legged robots subject to variety of linear/nonlinear inequality constraints such as Coulomb frictio…