9 citations · 10 across the 5 of their papers we have counts for
6 papers
Continuous-Time Motion Planning and Steering with Global Convergence
Mohsen Amiri, Sima Didari, Davoud Ataee Tarzanagh +2
Motion planning is central to robotics, and it is increasingly used to correct the motions proposed by learned planners and policies. In both uses, constraints must hold at every i…
PriPG-RL: Privileged Planner-Guided Reinforcement Learning for Partially Observable Systems with Anytime-Feasible MPC
Mohsen Amiri, Ali Beikmohammadi, Sindri Magnuśson +1
This paper addresses the problem of training a reinforcement learning (RL) policy under partial observability by exploiting a privileged, anytime-feasible planner agent available e…
REAP-T: A MATLAB Toolbox for Implementing Robust-to-Early Termination Model Predictive Control
Mohsen Amiri, Mehdi Hosseinzadeh
This paper presents a MATLAB toolbox for implementing robust-to-early termination model predictive control, abbreviated as REAP, which is designed to ensure a sub-optimal yet feasi…
Practical Considerations for Implementing Robust-to-Early Termination Model Predictive Control
Mohsen Amiri, Mehdi Hosseinzadeh
Model Predictive Control (MPC) is widely used to achieve performance objectives, while enforcing operational and safety constraints. Despite its high performance, MPC often demands…
Safe and Efficient Robot Action Planning in the Presence of Unconcerned Humans
Mohsen Amiri, Mehdi Hosseinzadeh
This paper proposes a robot action planning scheme that provides an efficient and probabilistically safe plan for a robot interacting with an unconcerned human -- someone who is ei…
Closed-Loop Model Identification and MPC-based Navigation of Quadcopters: A Case Study of Parrot Bebop 2
Mohsen Amiri, Mehdi Hosseinzadeh
The growing potential of quadcopters in various domains, such as aerial photography, search and rescue, and infrastructure inspection, underscores the need for real-time control un…