3 papers
math.OC2026
A particle swarm optimization with a reduced-subspace trust-region safeguard for contact-rich controller tuning
Morteza Kimiaei, Roya Khalili-Amirabadi, Mohsen Jalaeian-Farimani
Contact-rich robotic insertion is challenging because uncertainty in alignment, friction, and contact conditions can lead to unsuccessful assembly, excessive contact forces, and ja…
math.OC2026
Risk-Constrained MPPI Tuning with Update-Aware MA-ES Racing
Morteza Kimiaei, Roya Khalili-Amirabadi, Mohsen Jalaeian-Farimani
We formulate offline tuning of Model Predictive Path Integral (MPPI) controllers as a chance-constrained black-box optimization problem and develop an update-aware framework based…
nlin.CD2026
ETM-3D: A One-Parameter Multistable Quadratic Flow with an Explicit Absorbing Set and Intermittent Chaos
Roya Khalili-Amirabadi, Mohsen Jalaeian-Farimani
We study a one-parameter three-dimensional quadratic flow, denoted ETM-3D, on the benchmark domain . Its homogeneous quadratic triad preserves Euclidean quadratic energy, w…