Zobrazeno 1 - 9
of 9
pro vyhledávání: '"Morteza Farrokhsiar"'
Autor:
Homayoun Najjaran, Morteza Farrokhsiar
Publikováno v:
Advanced Robotics. 28:257-267
This paper introduces an unscented model predictive approach for the control of constrained nonlinear systems under uncertainty. The main contribution of this paper is related to incorporation of statistical linearization, rather than commonly used a
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::e2dfacf9f9c8482c96b74e9901abfec5
https://doi.org/10.1080/01691864.2013.867815
https://doi.org/10.1080/01691864.2013.867815
Publikováno v:
Robotics and Autonomous Systems. 61:1379-1391
'This paper introduces the integration of a probing scheme into a robust MPC-based robot motion planning and control algorithm. The proposed solution tackles the output-feedback tube-based MPC problem using the partially-closed loop strategy to incor
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::6c9ab9231432dbe09ca4f96484818d5c
https://doi.org/10.1016/j.robot.2013.07.014
https://doi.org/10.1016/j.robot.2013.07.014
A teaching tool for the state-of-the-art probabilistic methods used in localization of mobile robots
Publikováno v:
Computer Applications in Engineering Education. 20:721-727
Probabilistic methods provide a powerful paradigm for modeling of robot motion and its environment; a precursor for autonomous navigation of mobile robots. As a graduate-level engineering course, probabilistic robotics encompasses the techniques used
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::4308e155c5a45b600bfa5aa656e1df79
https://doi.org/10.1002/cae.20443
https://doi.org/10.1002/cae.20443
Autor:
Homayoun Najjaran, Morteza Farrokhsiar
Publikováno v:
ACC
This paper discusses the efficacy of a robust probing motion planning scheme. The proposed solution relies on i) tube-based MPC from the set-theoretic framework to ensure the robustness, and ii) the partially-closed loop strategy from stochastic MPC
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::4c2420cabb2a9225f1d4fa318ab3d985
https://doi.org/10.1109/acc.2013.6580857
https://doi.org/10.1109/acc.2013.6580857
Autor:
Homayoun Najjaran, Morteza Farrokhsiar
Publikováno v:
ICRA
Formation control of nonholonomic robots in dynamic unstructured environments is a challenging task yet to be met. This paper presents the unscented model predictive control (UMPC) approach to tackle the formation control of multiple nonholonomic rob
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::2901486532ec66a85987924c34e6adb1
https://doi.org/10.1109/icra.2012.6224783
https://doi.org/10.1109/icra.2012.6224783
Autor:
Homayoun Najjaran, Morteza Farrokhsiar
Publikováno v:
ICRA
An unscented predictive motion planning algorithm of a nonholonomic system using output feedback is presented. A two-wheeled robot is selected as the example nonholonomic system. A predictive motion planning scheme is used to find the suboptimal cont
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::c3fa6aedd6cd8c636ebe41b96035f878
https://doi.org/10.1109/icra.2011.5980518
https://doi.org/10.1109/icra.2011.5980518
Autor:
Morteza Farrokhsiar, Homayoun Najjaran
Publikováno v:
2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics.
This paper presents the theoretical framework and experimental results of a generalized formulation of a Rao-Blackwellized particle filter (RBPF) in which higher order state variables and a modified undelayed initialization scheme are incorporated to
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::064240c417f36e905812772ce4ac27f2
https://doi.org/10.1109/aim.2010.5695921
https://doi.org/10.1109/aim.2010.5695921
Autor:
Homayoun Najjaran, Morteza Farrokhsiar
Publikováno v:
Proceedings of the 2010 American Control Conference.
This paper generalizes the traditional formulation of Rao-Blackwellized particle filter (RBPF) by incorporating a higher order state variable and a modified undelayed initialization scheme to solve the 3D monocular visual SLAM problem (vSLAM). In the
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::eba0fd9a209cd32c2cc77e57203e2029
https://doi.org/10.1109/acc.2010.5531347
https://doi.org/10.1109/acc.2010.5531347
Autor:
Homayoun Najjaran, Morteza Farrokhsiar
Publikováno v:
Volume 3: ASME/IEEE 2009 International Conference on Mechatronic and Embedded Systems and Applications; 20th Reliability, Stress Analysis, and Failure Prevention Conference.
This paper presents a Rao-Blackwellized particle filter (RBPF) approach with a modified undelayed initialization scheme to solve the 3D visual SLAM problem (vSLAM) using a single camera. In the proposed method, landmarks are initialized using the inv
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::244082c702f407d11fc8f555041c44dc
https://doi.org/10.1115/detc2009-87610
https://doi.org/10.1115/detc2009-87610