Zobrazeno 1 - 10
of 22
pro vyhledávání: '"Farzan, Siavash"'
Autor:
Bohara, Vishrut, Farzan, Siavash
This paper presents a novel estimator-based safety-critical controller for formation control of non-holonomic mobile robots in communication-limited environments. The proposed decentralized framework integrates a robust state estimator with a formati
Externí odkaz:
http://arxiv.org/abs/2406.13707
This paper presents an off-policy Gaussian Predictive Control (GPC) framework aimed at solving optimal control problems with a smaller computational footprint, thereby facilitating real-time applicability while ensuring critical safety considerations
Externí odkaz:
http://arxiv.org/abs/2403.10932
Autor:
Jaitly, Akshay, Farzan, Siavash
Optimization methods for long-horizon, dynamically feasible motion planning in robotics tackle challenging non-convex and discontinuous optimization problems. Traditional methods often falter due to the nonlinear characteristics of these problems. We
Externí odkaz:
http://arxiv.org/abs/2403.10924
Autor:
Farzan, Siavash
Publikováno v:
2023 ASEE Annual Conference & Exposition, Baltimore, Maryland. https://strategy.asee.org/43968
Control theory is an important cornerstone of the robotics field and is considered a fundamental subject in an undergraduate and postgraduate robotics curriculum. Furthermore, project-based learning has shown significant benefits in engineering domai
Externí odkaz:
http://arxiv.org/abs/2305.11279
Autor:
Bohara, Vishrut, Farzan, Siavash
Optimal cruise control design can increase highway throughput and vehicle safety in traffic flow. In most heterogeneous platoons, the absence of vehicle-to-vehicle (V2V) communication poses challenges in maintaining system stability and ensuring a sa
Externí odkaz:
http://arxiv.org/abs/2305.00952
Publikováno v:
2020 59th IEEE Conference on Decision and Control (CDC), Jeju, Korea (South), 2020, pp. 5532-5539
In this paper, we present an online adaptive robust control framework for underactuated brachiating robots traversing flexible cables. Since the dynamic model of a flexible body is unknown in practice, we propose an indirect adaptive estimation schem
Externí odkaz:
http://arxiv.org/abs/2008.04463
Publikováno v:
2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Las Vegas, NV, USA, 2020, pp. 7744-7751
Control of wire-borne underactuated brachiating robots requires a robust feedback control design that can deal with dynamic uncertainties, actuator constraints and unmeasurable states. In this paper, we develop a robust feedback control for brachiati
Externí odkaz:
http://arxiv.org/abs/2007.12047
Autor:
Farzan, Siavash, DeSouza, Guilherme N.
This paper proposes a solution to the problem of smooth path planning for mobile robots in dynamic and unknown environments. A novel concept of Time-Warped Grid is introduced to predict the pose of obstacles in the environment and avoid collisions. T
Externí odkaz:
http://arxiv.org/abs/1903.07441
Autor:
Bohara, Vishrut, Farzan, Siavash
Publikováno v:
IEEE Transactions on Vehicular Technology; October 2024, Vol. 73 Issue: 10 p14341-14353, 13p
Akademický článek
Tento výsledek nelze pro nepřihlášené uživatele zobrazit.
K zobrazení výsledku je třeba se přihlásit.
K zobrazení výsledku je třeba se přihlásit.