9 papers
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…