67 citations · 71 across the 15 of their papers we have counts for
17 papers
MaCoPlanner: LLM-Assisted Manual-Compiled Task Planning with Proactive Safety Verification for Robotic Industrial Panel Operation
Guipeng Xin, Jiahe Xua, Mohammad Deghat +4
Robotic industrial panel operation requires not only accurate control localization but also compliance with operating procedures, safety rules, and device-state constraints distrib…
Balancing a Flying Inverted Pendulum with an Unknown Length Using Model Predictive Control and a Genetic Algorithm Estimator
Esther Paul, Mitchell Torok, Mohammad Deghat
This paper proposes an online Genetic Algorithm (GA) estimator and a Model Predictive Control (MPC) approach to solve the flying inverted pendulum problem in a practical experiment…
Bearing-Only Solution to the Fermat-Weber Location Problem for Unicycle Agent
Hong Liang Cheah, Mohammad Deghat, Jose Guivant
This paper addresses bearing-only algorithms for solving the Fermat-Weber Location Problem (FWLP) with a unicycle agent. Unlike existing FWLP solutions for single- or double-integr…
Self-Predictive Representation for Autonomous UAV Object-Goal Navigation
Angel Ayala, Donling Sui, Francisco Cruz +3
Autonomous Unmanned Aerial Vehicles (UAVs) have revolutionized industries through their versatility with applications including aerial surveillance, search and rescue, agriculture,…
Integrated Localization and Path Planning for an Ocean Exploring Team of Autonomous Underwater Vehicles with Consensus Graph Model Predictive Control
Mohsen Eskandari, Andrey V. Savkin, Mohammad Deghat
Navigation of a team of autonomous underwater vehicles (AUVs) coordinated by an unmanned surface vehicle (USV) is efficient and reliable for deep ocean exploration. AUVs depart fro…
Bearing-Only Tracking and Circumnavigation of a Fast Time-Varied Velocity Target Utilising an LSTM
Mitchell Torok, Mohammad Deghat, Yang Song
Bearing-only tracking, localisation, and circumnavigation is a problem in which a single or a group of agents attempts to track a target while circumnavigating it at a fixed distan…
Predefined-Time Target Localization and Circumnavigation using Bearing-Only Measurements: Theory and Experiments
Donglin Sui, Mohammad Deghat
This paper investigates the problem of controlling an autonomous agent to simultaneously localize and circumnavigate an unknown stationary target using bearing-only measurements (w…
Distributed Pose Graph Optimization using the Splitting Method based on the Alternating Direction Method of Multipliers
Zeinab Ebrahimi, Mohammad Deghat
Distributed optimization aims to leverage the local computation and communication capabilities of each agent to achieve a desired global objective. This paper addresses the distrib…
FTISS Adaptive Bearing-Only Formation Tracking Control with Unknown Disturbance Rejection
Hong Liang Cheah, Mohammad Deghat
This paper proposes a finite-time input-to-state stable (FTISS) bearing-only formation control law that rejects unknown constant disturbances. Unlike existing finite-time bearing-b…
How Can LLMs and Knowledge Graphs Contribute to Robot Safety? A Few-Shot Learning Approach
Abdulrahman Althobaiti, Angel Ayala, JingYing Gao +4
Large Language Models (LLMs) are transforming the robotics domain by enabling robots to comprehend and execute natural language instructions. The cornerstone benefits of LLM includ…
Distributed Robust Continuous-Time Optimization Algorithms for Time-Varying Constrained Cost
Zeinab Ebrahimi, Mohammad Deghat
This paper presents a distributed continuous-time optimization framework aimed at overcoming the challenges posed by time-varying cost functions and constraints in multi-agent syst…
AA-DLADMM: An Accelerated ADMM-based Framework for Training Deep Neural Networks
Zeinab Ebrahimi, Gustavo Batista, Mohammad Deghat
Stochastic gradient descent (SGD) and its many variants are the widespread optimization algorithms for training deep neural networks. However, SGD suffers from inevitable drawbacks…
Communication-Free Bearing-Only Distributed Target Localization and Circumnavigation by Multiple Agents
Donglin Sui, Mohammad Deghat
This paper considers the problem of localization and circumnavigation of an unknown stationary target by a group of autonomous agents using only local bearing measurements. We assu…
Detection and Mitigation of Biasing Attacks on Distributed Estimation Networks
Mohammad Deghat, Valery Ugrinovskii, Iman Shames +1
The paper considers a problem of detecting and mitigating biasing attacks on networks of state observers targeting cooperative state estimation algorithms. The problem is cast with…
Closeness of Solutions for Singularly Perturbed Systems via Averaging
Mohammad Deghat, Saeed Ahmadizadeh, Dragan Nesic +1
This paper studies the behavior of singularly perturbed nonlinear differential equations with boundary-layer solutions that do not necessarily converge to an equilibrium. Using the…
Detection of Biasing Attacks on Distributed Estimation Networks
Mohammad Deghat, Valery Ugrinovskii, Iman Shames +1
The paper addresses the problem of detecting attacks on distributed estimator networks that aim to intentionally bias process estimates produced by the network. It provides a suffi…
Simultaneous Velocity and Position Estimation via Distance-only Measurements with Application to Multi-Agent System Control
Bomin Jiang, Mohammad Deghat, Brian D. O. Anderson
This paper proposes a strategy to estimate the velocity and position of neighbor agents using distance measurements only. Since with agents executing arbitrary motions, instantaneo…