Search Results - "Mohammadi, Ali Akbar"

DARE-SLAM: Degeneracy-Aware and Resilient Loop Closing in Perceptually-Degraded Environments by Ebadi, Kamak, Palieri, Matteo, Wood, Sally, Padgett, Curtis, Agha-mohammadi, Ali-akbar

“…Enabling fully autonomous robots capable of navigating and exploring large-scale, unknown and complex environments has been at the core of robotics research…”
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Perception‐aware autonomous mast motion planning for planetary exploration rovers by Strader, Jared, Otsu, Kyohei, Agha‐mohammadi, Ali‐akbar

“…Highly accurate real‐time localization is of fundamental importance for the safety and efficiency of planetary rovers exploring the surface of Mars. Mars rover…”
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FIRM: Sampling-based feedback motion-planning under motion uncertainty and imperfect measurements by Agha-mohammadi, Ali-akbar, Chakravorty, Suman, Amato, Nancy M

“…In this paper we present feedback-based information roadmap (FIRM), a multi-query approach for planning under uncertainty which is a belief-space variant of…”
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Nonlinear MPC for Collision Avoidance and Control of UAVs With Dynamic Obstacles by Lindqvist, Bjorn, Mansouri, Sina Sharif, Agha-mohammadi, Ali-akbar, Nikolakopoulos, George

“…This letter proposes a Novel Nonlinear Model Predictive Control (NMPC) for navigation and obstacle avoidance of an Unmanned Aerial Vehicle (UAV). The proposed…”
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Decentralized control of multi-robot partially observable Markov decision processes using belief space macro-actions by Omidshafiei, Shayegan, Agha–Mohammadi, Ali–Akbar, Amato, Christopher, Liu, Shih–Yuan, How, Jonathan P, Vian, John

“…This work focuses on solving general multi-robot planning problems in continuous spaces with partial observability given a high-level domain description…”
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Direct LiDAR Odometry: Fast Localization With Dense Point Clouds by Chen, Kenny, Lopez, Brett T., Agha-mohammadi, Ali-akbar, Mehta, Ankur

“…Field robotics in perceptually-challenging environments require fast and accurate state estimation, but modern LiDAR sensors quickly overwhelm current odometry…”
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CS-BRM: A Probabilistic RoadMap for Consistent Belief Space Planning With Reachability Guarantees by Zheng, Dongliang, Ridderhof, Jack, Zhang, Zhiyuan, Tsiotras, Panagiotis, Agha-Mohammadi, Ali-Akbar

“…A new belief space planning algorithm, called covariance steering belief roadmap (CS-BRM), is introduced, analyzed, and numerically and experimentally tested…”
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Self‐reliant rovers for increased mission productivity by Gaines, Daniel, Doran, Gary, Paton, Michael, Rothrock, Brandon, Russino, Joseph, Mackey, Ryan, Anderson, Robert, Francis, Raymond, Joswig, Chet, Justice, Heather, Kolcio, Ksenia, Rabideau, Gregg, Schaffer, Steve, Sawoniewicz, Jacek, Vasavada, Ashwin, Wong, Vincent, Yu, Kathryn, Agha‐mohammadi, Ali‐akbar

“…Achieving consistently high levels of productivity has been a challenge for Mars surface missions. While the rovers have made major discoveries and…”
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Contact-Prioritized Planning of Impact-Resilient Aerial Robots With an Integrated Compliant Arm by Liu, Zhichao, Lu, Zhouyu, Agha-mohammadi, Ali-akbar, Karydis, Konstantinos

“…This article develops an impact-resilient aerial robot (s-ARQ) equipped with a compliant arm to sense contacts and reduce collision impact and featuring a…”
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Collision‐free local planner for unknown subterranean navigation by Jung, Sunggoo, Lee, Hanseob, Shim, David Hyunchul, Agha‐mohammadi, Ali‐akbar

“…When operating in confined spaces or near obstacles, collision‐free path planning is an essential requirement for autonomous exploration in unknown…”
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Fabrication and evaluation of the regenerative effect of a polycaprolactone/chitosan nanofibrous scaffold containing bentonite nanoparticles in a rat model of deep second-degree burn injury by Hashemi, Seyedeh-Sara, Mohammadi, Ali-Akbar, Kian, Mehdi, Rafati, Alireza, Ghaedi, Mojtaba, Ghafari, Behzad

“…In the present study, we evaluated the effect of a nanofibrous scaffold including polycaprolactone (PCL), chitosan (CHT), and bentonite nanoparticles (Ben-NPS)…”
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LOCUS: A Multi-Sensor Lidar-Centric Solution for High-Precision Odometry and 3D Mapping in Real-Time by Palieri, Matteo, Morrell, Benjamin, Thakur, Abhishek, Ebadi, Kamak, Nash, Jeremy, Chatterjee, Arghya, Kanellakis, Christoforos, Carlone, Luca, Guaragnella, Cataldo, Agha-mohammadi, Ali-akbar

“…A reliable odometry source is a prerequisite to enable complex autonomy behaviour in next-generation robots operating in extreme environments. In this work, we…”
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LAMP 2.0: A Robust Multi-Robot SLAM System for Operation in Challenging Large-Scale Underground Environments by Chang, Yun, Ebadi, Kamak, Denniston, Christopher E., Ginting, Muhammad Fadhil, Rosinol, Antoni, Reinke, Andrzej, Palieri, Matteo, Shi, Jingnan, Chatterjee, Arghya, Morrell, Benjamin, Agha-mohammadi, Ali-akbar, Carlone, Luca

“…Search and rescue with a team of heterogeneous mobile robots in unknown and large-scale underground environments requires high-precision localization and…”
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LOCUS 2.0: Robust and Computationally Efficient Lidar Odometry for Real-Time 3D Mapping by Reinke, Andrzej, Palieri, Matteo, Morrell, Benjamin, Chang, Yun, Ebadi, Kamak, Carlone, Luca, Agha-Mohammadi, Ali-Akbar

“…Lidar odometry has attracted considerable attention as a robust localization method for autonomous robots operating in complex GNSS-denied environments…”
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Confidence-rich grid mapping by Agha-mohammadi, Ali-akbar, Heiden, Eric, Hausman, Karol, Sukhatme, Gaurav

“…Representing the environment is a fundamental task in enabling robots to act autonomously in unknown environments. In this work, we present confidence-rich…”
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Evaluation of a Polycaprolactone/Gelatin/Lucilia sericata Larva Extract Nanofibrous Mat for Burn-Wound Healing by Hashemi, Seyedeh-Sara, Hayatdavoodi, Zhila, Kian, Mehdi, Nemati, Nahid Hassanzadeh, Mehrabani, Davood, Mohammadi, Ali-Akbar, Rafati, Alireza, Ghaedi, Mojtaba, Ghafari, Behzad, Naini, Adnan Alizadeh

“…Electrospun nanofibrous mats have shown great potential for dressing skin wounds. In this study, a nanofibrous mat composed of polycaprolactone (PCL), Gelatin…”
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A Survey on the autonomous exploration of confined subterranean spaces: Perspectives from real-word and industrial robotic deployments by Azpúrua, Héctor, Saboia, Maíra, Freitas, Gustavo M., Clark, Lillian, Agha-mohammadi, Ali-akbar, Pessin, Gustavo, Campos, Mario F.M., Macharet, Douglas G.

“…Confined and subterranean areas are common in many civilian and industrial sites, although they are hazardous for humans given the presence of noxious gases,…”
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SLAP: Simultaneous Localization and Planning Under Uncertainty via Dynamic Replanning in Belief Space by Agha-mohammadi, Ali-akbar, Agarwal, Saurav, Kim, Sung-Kyun, Chakravorty, Suman, Amato, Nancy M.

“…Simultaneous localization and planning (SLAP) is a crucial ability for an autonomous robot operating under uncertainty. In its most general form, SLAP induces…”
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Learning Risk-Aware Costmaps for Traversability in Challenging Environments by Fan, David D., Agha-mohammadi, Ali-akbar, Theodorou, Evangelos A.

“…One of the main challenges in autonomous robotic exploration and navigation in unknown and unstructured environments is determining where the robot can or…”
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CHORD: Distributed Data-Sharing via Hybrid ROS 1 and 2 for Multi-Robot Exploration of Large-Scale Complex Environments by Ginting, Muhammad Fadhil, Otsu, Kyohei, Edlund, Jeffrey A., Gao, Jay, Agha-Mohammadi, Ali-Akbar

“…A well-structured and reliable communication system is key to the successful operations of multi-robot systems. In this letter, we present our design and…”
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