10 papers
Distributed Fault-Tolerant Multi-Robot Cooperative Localization in Adversarial Environments
Tohid Kargar Tasooji, Ramviyas Parasuraman
In multi-robot systems (MRS), cooperative localization is a crucial task for enhancing system robustness and scalability, especially in GPS-denied or communication-limited environm…
Event-Based Distributed Linear Quadratic Gaussian for Multi-Robot Coordination with Localization Uncertainty
Tohid Kargar Tasooji, Sakineh Khodadadi
This paper addresses the problem of event-based distributed Linear Quadratic Gaussian (LQG) control for multirobot coordination under localization uncertainty. An event-triggered L…
Cubature Kalman Filter as a Robust State Estimator Against Model Uncertainty and Cyber Attacks in Power Systems
Tohid Kargar Tasooji, Sakineh Khodadadi
It is known that the conventional estimators such as extended Kalman filter (EKF) and unscented Kalman filter (UKF) may provide favorable performance; However, they may not guarant…
Distributed Linear Quadratic Gaussian for Multi-Robot Coordination with Localization Uncertainty
Tohid Kargar Tasooji, Sakineh Khodadadi
This paper addresses the problem of distributed coordination control for multi-robot systems (MRSs) in the presence of localization uncertainty using a Linear Quadratic Gaussian (L…
Event-Triggered Nonlinear Model Predictive Control for Cooperative Cable-Suspended Payload Transportation with Multi-Quadrotors
Tohid Kargar Tasooji, Sakineh Khodadadi, Guangjun Liu
Autonomous Micro Aerial Vehicles (MAVs), particularly quadrotors, have shown significant potential in assisting humans with tasks such as construction and package delivery. These a…
Multi-Robot Coordination Under Physical Limitations
Tohid Kargar Tasooji, Sakineh Khodadadi
Multi-robot coordination is fundamental to various applications, including autonomous exploration, search and rescue, and cooperative transportation. This paper presents an optimal…
Cooperative Control of Multi-Quadrotors for Transporting Cable-Suspended Payloads: Obstacle-Aware Planning and Event-Based Nonlinear Model Predictive Control
Tohid Kargar Tasooji, Sakineh Khodadadi, Guangjun Liu +1
This paper introduces a novel methodology for the cooperative control of multiple quadrotors transporting cablesuspended payloads, emphasizing obstacle-aware planning and event-bas…
Design and Analysis of a Robust Control System for Triple Inverted Pendulum Stabilization
Tohid Kargar Tasooji, Sakineh Khodadadi
The design of robust controllers for triple inverted pendulum systems presents significant challenges due to their inherent instability and nonlinear dynamics. Furthermore, uncerta…
A Multi-Objective Simultaneous Routing, Facility Location and Allocation Model for Earthquake Emergency Logistics
Sakineh Khodadadi, Tohid Kargar Tasooji, Afshin Shariat-Mohayman +1
Emergency preparedness reduces the severity and impact of major disasters. In the case of earthquakes, a rapid and efficient emergency response is essential to reduce the number of…
DCL-Sparse: Distributed Range-only Cooperative Localization of Multi-Robots in Noisy and Sparse Sensing Graphs
Atharva Sagale, Tohid Kargar Tasooji, Ramviyas Parasuraman
This paper presents a novel approach to range-based cooperative localization for robot swarms in GPS-denied environments, addressing the limitations of current methods in noisy and…