2 citations · 5 across the 8 of their papers we have counts for
9 papers
Toward Scalable Visual Servoing Using Deep Reinforcement Learning and Optimal Control
Salar Asayesh, Hossein Sheikhi Darani, Mo chen +2
Classical pixel-based Visual Servoing (VS) approaches offer high accuracy but suffer from a limited convergence area due to optimization nonlinearity. Modern deep learning-based VS…
A Non-linear MPC Local Planner for Tractor-Trailer Vehicles in Forward and Backward Maneuvering
Behnam Moradi, Mehran Mehrandezh
Designing a local planner to control tractor-trailer vehicles in forward and backward maneuvering is a challenging control problem in the research community of autonomous driving s…
Robot to Human Object Handover using Vision and Joint Torque Sensor Modalities
Mohammadhadi Mohandes, Behnam Moradi, Kamal Gupta +1
We present a robot-to-human object handover algorithm and implement it on a 7-DOF arm equipped with a 3-finger mechanical hand. The system performs a fully autonomous and robust ob…
Least-Restrictive Multi-Agent Collision Avoidance via Deep Meta Reinforcement Learning and Optimal Control
Salar Asayesh, Mo Chen, Mehran Mehrandezh +1
Multi-agent collision-free trajectory planning and control subject to different goal requirements and system dynamics has been extensively studied, and is gaining recent attention…
Generalized Grasping for Mechanical Grippers for Unknown Objects with Partial Point Cloud Representations
Michael Hegedus, Kamal Gupta, Mehran Mehrandezh
We present a generalized grasping algorithm that uses point clouds (i.e. a group of points and their respective surface normals) to discover grasp pose solutions for multiple grasp…
Identifying Multiple Interaction Events from Tactile Data during Robot-Human Object Transfer
Mohammad-Javad Davari, Michael Hegedus, Kamal Gupta +1
During a robot to human object handover task, several intended or unintended events may occur with the object - it may be pulled, pushed, bumped or simply held - by the human recei…
Path Planning and Controlled Crash Landing of a Quadcopter in case of a Rotor Failure
Mojtaba Hedayatpour, Mehran Mehrandezh, Farrokh Janabi-Sharifi
This paper presents a framework for controlled emergency landing of a quadcopter, experiencing a rotor failure, away from sensitive areas. A complete mathematical model capturing t…
A Unified Approach to Configuration-based Dynamic Analysis of Quadcopters for Optimal Stability
Mojtaba Hedayatpour, Mehran Mehrandezh, Farrokh Janabi-Sharifi
A special type of rotary-wing Unmanned Aerial Vehicles (UAV), called Quadcopter have prevailed to the civilian use for the past decade. They have gained significant amount of atten…
Optimal-power Configurations for Hover Solutions in Mono-spinners
Mojtaba Hedayatpour, Mehran Mehrandezh, Farrokh Janabi-Sharifi
Rotary-wing flying machines draw attention within the UAV community for their in-place hovering capability, and recently, holonomic motion over fixed-wings. In this paper, we inves…