3 citations · 11 across the 6 of their papers we have counts for
6 papers
Large Language Model-based Decision-making for COLREGs and the Control of Autonomous Surface Vehicles
Klinsmann Agyei, Pouria Sarhadi, Wasif Naeem
In the field of autonomous surface vehicles (ASVs), devising decision-making and obstacle avoidance solutions that address maritime COLREGs (Collision Regulations), primarily defin…
Model Free Deep Deterministic Policy Gradient Controller for Setpoint Tracking of Non-minimum Phase Systems
Fatemeh Tavakkoli, Pouria Sarhadi, Benoit Clement +1
Deep Reinforcement Learning (DRL) techniques have received significant attention in control and decision-making algorithms. Most applications involve complex decision-making system…
Provably Safe Finite-Time Guidance for Marine Vehicles
Bhawana Singh, Karim Ahmadi Dastgerdi, Nikolaos Athanasopoulos +2
We consider a new control strategy for marine navigation, equipped with finite-time convergence characteristics. We provide mathematical guarantees for waypoint reaching and obstac…
Reinforcement Learning-Enhanced Control Barrier Functions for Robot Manipulators
Stephen McIlvanna, Nhat Nguyen Minh, Yuzhu Sun +2
In this paper we present the implementation of a Control Barrier Function (CBF) using a quadratic program (QP) formulation that provides obstacle avoidance for a robotic manipulato…
A Survey of Recent Machine Learning Solutions for Ship Collision Avoidance and Mission Planning
Pouria Sarhadi, Wasif Naeem, Nikolaos Athanasopoulos
Machine Learning (ML) techniques have gained significant traction as a means of improving the autonomy of marine vehicles over the last few years. This article surveys the recent M…
On the Application of Agile Project Management Techniques, V-Model and Recent Software Tools in Postgraduate Theses Supervision
Pouria Sarhadi, Wasif Naeem, Karen Fraser +1
Due to the nature of most postgraduate theses in control engineering and their similarities to industrial and software engineering projects, invoking novel project control techniqu…