8 papers
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…