6 papers
A Convex Obstacle Avoidance Formulation
Ricardo Tapia, Iman Soltani
Autonomous driving requires reliable collision avoidance in dynamic environments. Nonlinear Model Predictive Controllers (NMPCs) are suitable for this task, but struggle in time-cr…
RCOA Extension and Applications
Ricardo Tapia, Iman Soltani
The Relaxed Convex Obstacle Avoidance (RCOA) formulation is the first approach to enable a fully convex optimal control problem (OCP) for obstacle avoidance. Convergence analysis o…
MarineFormer: A Spatio-Temporal Attention Model for USV Navigation in Dynamic Marine Environments
Ehsan Kazemi, Dechen Gao, Iman Soltani
Autonomous navigation in marine environments can be extremely challenging, especially in the presence of spatially varying flow disturbances and dynamic and static obstacles. In th…
Design and Simulation of Vehicle Motion Tracking System using a Youla Controller Output Observation System
Rongfei Li, Francis Assadian. Iman Soltani
This paper presents a novel linear robust Youla controller output observation system for tracking vehicle motion trajectories using a simple nonlinear kinematic vehicle model, supp…
Krysalis Hand: A Lightweight, High-Payload, 18-DoF Anthropomorphic End-Effector for Robotic Learning and Dexterous Manipulation
Al Arsh Basheer, Justin Chang, Yuyang Chen +2
This paper presents the Krysalis Hand, a five-finger robotic end-effector that combines a lightweight design, high payload capacity, and a high number of degrees of freedom (DoF) t…
User-Centered Insights into Assistive Navigation Technologies for Individuals with Visual Impairment
Iman Soltani, Johnaton Schofield, Mehran Madani +2
Navigational challenges significantly impact the independence and mobility of Individuals with Visual Impairment (IVI). While numerous assistive technologies exist, their adoption…