Ali Agha
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Publications

    Selected Papers

  1. Ali-akbar Agha-mohammadi, Suman Chakravorty and Nancy Amato, “FIRM: Sampling-based Feedback Motion Planning Under Motion Uncertainty and Imperfect Measurements,” International Journal of Robotics Research (IJRR), vol.33, no.2, pp.268-304, 2014.
    (pdf)


  2. Ali-akbar Agha-mohammadi, Eric Heiden, Karol Hausman and Gaurav S. Sukhatme, “Confidence-rich 3D Grid Mapping: Toward High-speed Vision-based UAV Navigation,” International Journal of Robotics Research (IJRR), vol.38, pp.1352-1374, 2019.
    (pdf)


  3. Ali-akbar Agha-mohammadi, Saurav Agarwal, Sung-Kyun Kim, Suman Chakravorty and Nancy M. Amato, “SLAP: Simultaneous Localization and Planning for Physical Mobile Robots via Enabling Dynamic Replanning in Belief Space,” IEEE Transactions on Robotics (TRO), vol.34, no.5, pp.1195-1214, 2018.
    (pdf)


  4. Shayegan Omidshafiei, Ali-akbar Agha-mohammadi, Christopher Amato, Shih–Yuan Liu, Jonathan P. How and John Vian, “Decentralized Control of Partially Observable Markov Decision Processes using Belief Space Macro-actions,” International Journal of Robotics Research (IJRR), vol.36, no.2, pp.231-258, 2017.
    (pdf)


    Journal Papers and Book Chapters

  1. [under review] Ali-akbar Agha-mohammadi, et. al, “A Hybrid Semantic-Geometric Approach to Map Merging for Multi Robot Exploration of Perceptually-Degraded Environments,” 2020.
    (pdf)


  2. [under review] Daniel Gaines, Gary Doran, Michael Paton, Brandon Rothrock, Joseph Russino, Ryan Mackey, Robert Anderson, Raymond Francis, Chet Joswig, Heather Justice, Ksenia Kolcio, Gregg Rabideau, Steve Schaffer, Jacek Sawoniewicz, Ashwin Vasavada, Vincent Wong, Kathryn Yu and Ali-akbar Agha-mohammadi, “Self-reliant Rover Design For Increasing Mission Productivity,” 2020.
    (pdf)


  3. [under review] Ali-akbar Agha-mohammadi, et al., “Where to Map? Iterative Rover-Copter Path Planning for Mars Exploration,” 2019.
    (pdf)


  4. Jared Strader, Kyohei Otsu and Ali-akbar Agha-mohammadi, “Perception-aware Mast Motion Planning for Planetary Exploration Rovers,” Journal of Field Robotics (JFR), 2020, accepted.
    (pdf)


  5. Ali-akbar Agha-mohammadi, Eric Heiden, Karol Hausman and Gaurav S. Sukhatme, “Confidence-rich 3D Grid Mapping: Toward High-speed Vision-based UAV Navigation,” International Journal of Robotics Research (IJRR), vol.38, pp.1352-1374, 2019.
    (pdf)


  6. Sung-Kyun Kim, Rohan Thakker and Ali-akbar Agha-mohammadi, “Bi-directional Value Learning for Risk-aware Planning Under Uncertainty,” IEEE Robotics and Automation Letters (RA-L), vol.4, no.3, pp.2493-2500, March 2019.
    (pdf)


  7. Max Pflueger, Ali-akbar Agha-mohammadi and Gaurav S. Sukhatme, “Rover-IRL: Inverse Reinforcement Learning with Soft Value Iteration Networks for Planetary Rover Path Planning,” IEEE Robotics and Automation Letters (RA-L), vol.4, no.2, pp.1387-1394, 2019.
    (pdf)


  8. Ali-akbar Agha-mohammadi, Saurav Agarwal, Sung-Kyun Kim, Suman Chakravorty and Nancy M. Amato, “SLAP: Simultaneous Localization and Planning for Physical Mobile Robots via Enabling Dynamic Replanning in Belief Space,” IEEE Transactions on Robotics (TRO), vol.34, no.5, pp.1195-1214, 2018.
    (pdf)


  9. Kyohei Otsu, Ali-akbar Agha-mohammadi and Michael Paton, “Where to Look? Predictive Perception with Applications to Planetary Exploration,” IEEE Robotics and Automation Letters (RA-L), vol.3, no.2, pp.635-642, 2018.
    (pdf)


  10. Shayegan Omidshafiei, Ali-akbar Agha-mohammadi et al., Christopher Amato, Shih–Yuan Liu, Jonathan P. How and John Vian, “Decentralized Control of Partially Observable Markov Decision Processes using Belief Space Macro-actions,” International Journal of Robotics Research (IJRR), vol.36, no.2, pp.231-258, 2017.
    (pdf)


  11. Beipeng Mu, Ali-akbar Agha-mohammadi, Liam Paull, Matthew Graham, Jonathan How and John Leonard, “Two-Stage Focused Inference for Resource-Constrained Collision-Free Navigation,” IEEE Transactions on Robotics (T-RO), vol.99, no.1, pp.1-17, 2017.
    (pdf)


  12. Ali-akbar Agha-mohammadi, Suman Chakravorty and Nancy Amato, “FIRM: Sampling-based Feedback Motion Planning Under Motion Uncertainty and Imperfect Measurements,” International Journal of Robotics Research (IJRR), vol.33, no.2, pp.268-304, 2014.
    (pdf)


  13. Bernard Michini, Thomas J. Walsh, Ali-akbar Agha-Mohammadi and Jonathan P. How, “Bayesian Nonparametric Reward Learning From Demonstration,” IEEE Transactions on Robotics (TRO), vol.31, no.2, pp.369-386, April 2015.
    (pdf)


  14. Ali-akbar Agha-mohammadi, Saurav Agarwal and Suman Chakravorty, “Periodic-node Graph-based Framework for Stochastic Control of Small Aerial Vehicles,” The ASME Journal of Dynamic Systems, Measurement and Control, Special Issue on Stochastic Models, Control and Algorithms in Robotics, vol.137, no.3, pp.031005, 2015.
    (pdf)


  15. Shayegan Omidshafiei, Ali-akbar Agha-mohammadi, Yufan Chen, Nazim Kemal Ure, Shih-Yuan Liu, Brett Lopez, Rajeev Surati, Jonathan P. How and John L. Vian, “MAR-CPS: Measurable Augmented Reality for Prototyping Cyber-Physical Systems,” IEEE Control Systems Magazine (CSM), vol.36, no.6, pp.65-87, 2016.
    (pdf)


  16. Ali-akbar Agha-mohammadi, Sandip Kumar and Suman Chakravorty, “Motion Planning under Uncertainty,” Book Chapter, J. Valasek (Ed.), Advances in Intelligent and Autonomous Aerospace Systems, Progress in Astronautics and Aeronautics, American Institute of Aeronautics and Astronautics (AIAA), 2012.
    (pdf)


    Refereed Conferences Papers

  1. [under review] Ali-akbar Agha-mohammadi, et al., “LAMP: Large-Scale Autonomous Mapping and Positioning for Exploration of Perceptually-Degraded Subterranean Environments,” 2020.
    (pdf)


  2. [under review] Ali-akbar Agha-mohammadi, et al., “Autonomous Aerial Exploration Drones for DARPA Subterranean Challenge,” 2020.
    (pdf)


  3. [under review] Ali-akbar Agha-mohammadi, et al., “Towards autonomous aerial scouting using multi-rotors in subterranean tunnel navigation,” 2020.
    (pdf)


  4. [under review] Ali-akbar Agha-mohammadi, et al., “Radar-Inertial Ego-Velocity Estimation for Visually Degraded Environments,” 2020.
    (pdf)


  5. [under review] Ali-akbar Agha-mohammadi, et al., “Bayesian Learning-Based Adaptive Control for Safety Critical Systems,” 2020.
    (pdf)


  6. [under review] Ali-akbar Agha-mohammadi, et al., “Where to Map? Iterative Rover-Copter Path Planning for Mars Exploration,” 2019.
    (pdf)


  7. [under review] Ali-akbar Agha-mohammadi, et al., “Vision-driven NMPC for Autonomous Aerial Navigation in Subterranean Environments,” 2020.
    (pdf)


  8. David Fan, Rohan Thakker, Barlett Tara, M. B. Miled, L. Kim, Evangelos Theodorou and Ali-akbar Agha-mohammadi, “Autonomous Hybrid Ground/Aerial Mobility in Unknown Environments,” International Conference on Intelligent Robots and Systems (IROS), Macau, China, November 2019.
    (pdf)


  9. Thomas Lew, David Fan, Barlett Tara, Angel Santamaria-Navarro, Rohan Thakker and Ali-akbar Agha-mohammadi, “Contact Inertial Odometry: Collisions Are Your Friends,” International Symposium on Robotics Research (ISRR), Hanoi, Vietnam, October 2019.
    (pdf)


  10. Angel Santamaria-Navarro, Rohan Thakker, David Fan, Benjamin Morrell and Ali-akbar Agha-mohammadi, “Towards Resilient Autonomous Navigation of Drones,” International Symposium on Robotics Research (ISRR), Hanoi, Vietnam, October 2019.
    (pdf)


  11. Max Pflueger, Ali-akbar Agha-mohammadi and Gaurav S. Sukhatme, “Rover-IRL: Inverse Reinforcement Learning with Soft Value Iteration Networks for Planetary Rover Path Planning,” IEEE International Conference on Robotics and Automation (ICRA), Montreal, Canada, May 2019.
    (pdf)


  12. Sung-Kyun Kim, Rohan Thakker and Ali-akbar Agha-mohammadi, “Bi-directional Value Learning for Risk-aware Planning Under Uncertainty,” IEEE International Conference on Robotics and Automation (ICRA), Montreal, Canada, May 2019.
    (pdf)


  13. Sahand Sabet, Ali-akbar Agha-mohammadi, Andrea Tagliabue, David Elliott and Parviz E. Nikravesh, “Rollocopter: An Energy-Aware Hybrid Aerial-Ground Mobility for Extreme Terrains,” IEEE Aerospace Conference, Big Sky, Montana, March 2019.
    (pdf)


  14. David Chan and Ali-akbar Agha-mohammadi, “Autonomous Imaging and Mapping of Small Bodies Using Deep Reinforcement Learning,” IEEE Aerospace Conference, Big Sky, Montana, March 2019.
    (pdf)


  15. Petter Nilsson, Sofie Haesaert, Rohan Thakker, Kyohei Otsu, Cristian-Ioan Vasile, Ali-akbar Agha-mohammadi, Richard Murray and Aaron Ames, “Toward Specification-Guided Active Mars Exploration for Cooperative Robot Teams,” Robotics: Science and Systems (RSS), Pittsburgh, Pennsylvania, June 2018.
    (pdf)


  16. Kyohei Otsu, Ali-akbar Agha-mohammadi and Michael Paton, “Where to Look? Predictive Perception with Applications to Planetary Exploration,” IEEE International Conference on Robotics and Automation (ICRA), Brisbane, Australia, March 2018. The Best Paper Award Finalist.
    (pdf)


  17. Sofie Haesaert, Petter Nilsson, Cristian-Ioan Vasile, Rohan Thakker, Ali-akbar Agha-mohammadi, Aaron Ames and Richard Murray, “Temporal Logic Control of POMDPs via Label-based Stochastic Simulation Relations,” IFAC Conference on Analysis and Design of Hybrid Systems (ADHS), Oxford, UK, July 2018.
    (pdf)


  18. Daniel Gaines, Joseph Russino, Joseph Russino, Gary Doran, Ryan Mackey, Michael Paton, Brandon Rothrock, Steve Schaffer, Ali-akbar Agha-mohammadi, Chet Joswig, Heather Justice, Ksenia Kolcio, Jacek Sawoniewicz, Vincent Wong, Kathryn Yu, Gregg Rabideau, Robert Anderson and Ashwin Vasavada, “Self-reliant Rover Design For Increasing Mission Productivity,” The International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS), Madrid, Spain, June 2018.
    (pdf)


  19. Kamak Ebadi, Ali-akbar Agha-mohammadi and Kyohei Otsu, “Localization of A Mars Rover in Mars Helicopter-Generated Maps: Preliminary Results,” The International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS), Madrid, Spain, June 2018.
    (pdf)


  20. Daniel Gaines, Joseph Russino, Ali-akbar Agha-mohammadi, Gary Doran, Chet Joswig, Heather Justice, Ksenia Kolcio, Ryan Mackey, Michael Paton, Gregg Rabideau, Brandon Rothrock, Jacek Sawoniewicz, Steve Schaffer, Vincent Wong, Kathryn Yu, Robert Anderson and Ashwin Vasavada, “Self-reliant Rover Design For Increasing Mission Productivity,” The International Conference on Automated Planning and Scheduling (ICAPS), Delft, Netherlands, June 2018.
    (pdf)


  21. Eric Heiden, Daniel Pastor, Pradyumna Vyshnav and Ali-akbar Agha-mohammadi, “Heterogeneous Sensor Fusion via Confidence-rich 3d Grid Mapping: Application to Physical Robots,” International Symposium on Experimental Robotics (ISER), Buenos Aires, Argentina, November 2018.
    (pdf)


  22. Kamak Ebadi, Ali-akbar Agha-mohammadi and Kyohei Otsu, “Aerial-to-Ground Localization for a Helicopter-Rover Team in Mars-like Environments,” International Symposium on Experimental Robotics (ISER), Buenos Aires, Argentina, November 2018.
    (pdf)


  23. Ali-akbar Agha-mohammadi, Jason Hofgartner, Pradyumna Vyshnav, Jose Mendez, Daniel Tikhomirov, Fernando Chavez, Jonathan Lunine and Issa Nesnas, “Exploring Icy Worlds: Accessing the Subsurface Voids of Titan through Autonomous Collaborative Hybrid Robots,” International Planetary Probe Workshop (IPPW), Boulder, CO, June 2018.
    (pdf)


  24. Vincenzo Pesce, Ali-akbar Agha-mohammadi and Michèle Lavagna, “Autonomous Navigation for Small bodies Mapping,” IEEE Aerospace Conference, Big Sky, MT, March 2018.
    (pdf)


  25. Ali-akbar Agha-mohammadi, Eric Heiden, Karol Hausman and Gaurav S. Sukhatme, “Confidence-rich 3D Grid Mapping,” International Symposium on Robotics Research (ISRR), Puerto Varas, Chile, December 2017.
    (pdf)


  26. Eric Heiden, Ali-akbar Agha-mohammadi, Karol Hausman and Gaurav S. Sukhatme, “Planning High-speed Safe Trajectories in Confidence-rich Map,” International Conference on Intelligent Robots and Systems (IROS), Vancouver, Canada, September 2017.
    (pdf)


  27. Brian Ichter, Edward Schmerling, Ali-akbar Agha-mohammadi and Marco Pavone, “Real-Time Stochastic Kinodynamic Motion Planning via Multiobjective Search on GPUs,” IEEE International Conference on Robotics and Automation (ICRA), Singapore, May 2017.
    (pdf)


  28. Beipeng Mu, Matthew Giamou, Liam Paull, Ali-akbar Agha-mohammadi, John J. Leonard and Jonathan P. How, “Information-Based Active SLAM Via Topological Feature Graphs,” IEEE Conference on Decision and Control (CDC), Las Vegas, NV, 2016.
    (pdf)


  29. Shayegan Omidshafiei, Ali-akbar Agha-mohammadi, Christopher Amato, Shih-Yuan Liu, Jonathan P. How and John L. Vian, “Graph-based Cross Entropy Method for Solving Multi-Robot Decentralized POMDPs,” IEEE International Conference on Robotics and Automation (ICRA), Stockholm, Sweden, May 2016.
    (pdf)


  30. Beipeng Mu, Ali-akbar Agha-mohammadi, Liam Paull, Matthew Graham, Jonathan How and John Leonard, “Two-Stage Focused Inference for Resource-Constrained Collision-Free Navigation,” Robotics: Science and Systems (RSS), Rome, Italy, July 2015.
    (pdf)


  31. Shayegan Omidshafiei, Ali-akbar Agha-mohammadi, Christopher Amato and Jonathan P. How, “Decentralized control of Partially Observable Markov Decision Processes using belief space macro-actions,” IEEE International Conference on Robotics and Automation (ICRA), pp.5962-5969, May 2015.
    (pdf)


  32. N. Kemal Ure, Shayegan Omidshafiei, Brett Thomas Lopez, Ali-akbar Agha-mohammadi, Jonathan P. How and John Vian, “Online heterogeneous multiagent learning under limited communication with applications to forest fire management,” International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, pp.5181-5188, September 2015.
    (pdf)


  33. Shayegan Omidshafiei, Ali-akbar Agha-mohammadi, Yufan Chen, Nazim Kemal Ure, Jonathan P. How, John L. Vian and Rajeev Surati, “Measurable Augmented Reality for Prototyping Cyber-Physical Systems (MAR-CPS),” AIAA Infotech, Kissimmee, FL, January 2016.
    (pdf)


  34. Ali-akbar Agha-mohammadi, N. Kemal Ure, Jonathan P. How and John Vian, “Health aware stochastic planning for persistent package delivery missions using quadrotors,” International Conference on Intelligent Robots and Systems (IROS), Chicago, IL, pp.3389-3396, September 2014.
    (pdf)


  35. Ali-akbar Agha-mohammadi, Saurav Agarwal, Aditya Mahadevan, Suman Chakravorty, Daniel Tomkins, Jory Denny and Nancy Amato, “Robust Online Belief Space Planning in Changing Environments: Application to Physical Mobile Robots,” IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, China, 2014.
    (pdf)


  36. Ali-akbar Agha-mohammadi, Suman Chakravorty and Nancy Amato, “Graph-based Stochastic Control with Constraints: A Unified Approach with Perfect and Imperfect Measurements,” American Control Conference (ACC), Washington, DC, June 2013.
    (pdf)


  37. Ali-akbar Agha-mohammadi, Suman Chakravorty and Nancy Amato, “Sampling-based nonholonomic motion planning in belief space via Dynamic Feedback Linearization-based FIRM,” International Conference on Intelligent Robots and Systems (IROS), Vilamoura, Portugal, 2012.
    (pdf)


  38. Ali-akbar Agha-mohammadi, Suman Chakravorty and Nancy Amato, “On the Probabilistic Completeness of the Sampling-based Feedback Motion Planners in Belief space,” IEEE International Conference on Robotics and Automation (ICRA), Minneapolis, MN, 2012.
    (pdf)


  39. Ali-akbar Agha-mohammadi, Suman Chakravorty and Nancy Amato, “FIRM: Feedback controller-based Information-state RoadMap -A Framework for Motion Planning Under Uncertainty-,” International Conference on Intelligent Robots and Systems (IROS), San Francisco, CA, 2011.
    (pdf)


  40. Ali-akbar Agha-mohammadi and Dezhen Song, “Robust recognition of planar mirrored walls using a single view,” IEEE International Conference on Robotics and Automation (ICRA), Shanghai, China, pp.1186-1191, May 2011.
    (pdf)


  41. Amirhossein Tamjidi, Hamid D. Taghirad and Ali-akbar Agha-mohammadi, “On the consistency of EKF-SLAM: Focusing on the observation models,” International Conference on Intelligent Robots and Systems (IROS), St. Louis, MO, pp.2083-2088, Oct 2009.
    (pdf)


  42. Ali-akbar Agha-mohammadi, Amirhossein Tamjidi and Hamid D. Taghirad, “A solution for SLAM through augmenting vision and range information,” International Conference on Intelligent Robots and Systems (IROS), Nice, France, pp.1037-1042, Sept 2008.
    (pdf)


  43. Ali-akbar Agha-mohammadi, Amirhossein Tamjidi and Hamid D. Taghirad, “SLAM Based On the LRF Information as the Only Data Source,” International Federation of Automatic Control (IFAC), Seoul, Korea, pp.14657-14662, July 2008.
    (pdf)


  44. Ali-akbar Agha-mohammadi, Amirhossein Tamjidi, Hamid D. Taghirad and Ehsan Mihankhah, “Feature-Based Range Scan Matching for Accurate and High Speed Mobile Robot Localization,” European Conference on Mobile Robots (ECMR), Freiburg, Germany, pp.253-258, September 2007.
    (pdf)


    Non-refereed Conference/workshop Papers and Posters

  1. Arash Kalantari, Thomas Touma, Leon Kim, Rianna Jitosho, Kyle Strickland, Lopez, Brett T. and Ali-akbar Agha-mohammadi, “Drivocopter: A concept Hybrid Aerial/Ground Vehicle for Long-endurance Mobility,” IEEE Aerospace Conference, Big Sky, MT, March 2020, accepted.
    (pdf)


  2. Kyohei Otsu, Tepsuporn Scott, Thakker Rohan, Tiago Vaquero, Jeffrey A. Edlund, William Walsh, Michael T. Wolf and Ali-akbar Agha-mohammadi, “Autonomous Exploration and Mapping of Communication-degraded Environment with a Robot Team,” IEEE Aerospace Conference, Big Sky, MT, March 2020, accepted.
    (pdf)


  3. Andrea Tagliabue, Stephanie Schneider, Marco Pavone and Ali-akbar Agha-mohammadi, “The Shapeshifter: a Multi-Agent, Multi-Modal Robotic Platform for the Exploration of Titan,” IEEE Aerospace Conference, Big Sky, MT, March 2020, accepted.
    (pdf)


  4. Jong Tai Jang, Angel Santamaria-Navarro, Brett T. Lopez and Ali-akbar Agha-mohammadi, “Analysis of State Estimation Drift on a MAV using PX4 Autopilot and MEMS IMU During Dead-reckoning,” IEEE Aerospace Conference, Big Sky, MT, March 2020, accepted.
    (pdf)


  5. Ali-akbar Agha-mohammadi, Karl L. Mitchell and Penelope J. Boston, “Robotic Exploration of Planetary Subsurface Voids in Search for Life,” 2019, accepted.
    (pdf)


  6. Max Pflueger, Ali-akbar Agha-mohammadi and Gaurav Sukhatme, “Soft Value Iteration Networks for Planetary Rover Path Planning,” NIPS workshop on Acting and Interacting in the Real World: Challenges in Robot Learning, Long Beach, CA, December 2017.
    (pdf)


  7. Max Pflueger, Ali-akbar Agha-mohammadi and Gaurav S. Sukhatme, “Long-Range Path Planning for Planetary Rovers via Imitation Learning and Value Iteration Networks,” Southern California Machine Learning Symposium, Los Angeles, CA, October 2017. Honorable Mention for the Best Paper Award.
    (pdf)


  8. Ali-akbar Agha-mohammadi, Eric Heiden, Karol Hausman and Gaurav S. Sukhatme, “Confidence-aware Occupancy Grids,” International Conference on Intelligent Robots and Systems (IROS), Workshop on Vision-based Agile Autonomous Navigation of UAVs, Vancouver, Canada, September 2017.
    (pdf)


  9. Eric Heiden, Karol Hausman, Gaurav S. Sukhatme and Ali-akbar Agha-mohammadi, “High-speed Safe Trajectory Planning in Confidence-rich Maps,” International Conference on Intelligent Robots and Systems (IROS), Workshop on Vision-based Agile Autonomous Navigation of UAVs, Vancouver, Canada, September 2017.
    (pdf)


  10. Eric Heiden, Karol Hausman, Gaurav S. Sukhatme and Ali-akbar Agha-mohammadi, “Safe Trajectory Generation using Confidence-rich Maps,” Southern California Robotics Symposium (SCR), Los Angeles, CA, April 2017.
    (pdf)


  11. Ali-akbar Agha-mohammadi, “SMAP: Simultaneous Mapping and Planning on Occupancy Grids,” International Conference on Intelligent Robots and Systems (IROS), Workshop on Vision-based High Speed Autonomous Navigation of UAVs, Daejeon, South Korea, October 2016.
    (pdf)


  12. Christopher Amato, George Konidaris, Shayegan Omidshafiei, Ali-akbar Agha-mohammadi, Jonathan P. How and Leslie P. Kaelbling, “Probabilistic Planning for Decentralized Multi-Robot Systems,” Sequential Decision Making for Intelligent Agents, AAAI fall symposium, Arlington, VA, 2015.
    (pdf)


  13. Ali-akbar Agha-mohammadi, Shayegan Omidshafiei, Christopher Amato and Jonathan P. How, “Graph-based Planning to Solve Multi-agent POMDPs,” Robotics: Science and Systems, Workshop on Distributed Control and Estimation for Robotic Vehicle Networks, Berkeley, CA, July 2014.
    (pdf)


  14. Ali-akbar Agha-mohammadi, Saurav Agarwal, Suman Chakravorty and Nancy M. Amato, “Dynamic Closed-loop Replanning in Belief Space: Toward Handling Dynamically Changing Environments,” Robotics: Science and Systems, Workshop on Information-based Grasp and Manipulation Planning, Berkeley, CA, July 2014.
    (pdf)


  15. Ali-akbar Agha-mohammadi, Suman Chakravorty and Nancy Amato, “Online Replanning in Belief Space for Dynamical Systems: Towards Handling Discrete Changes of Goal Location,” IEEE International Conference On Robotics and Automation (ICRA), Workshop on Combining Task and Motion Planning, Karlsruhe, Germany, 2013.
    (pdf)


  16. Ali-akbar Agha-mohammadi, Suman Chakravorty and Nancy Amato, “Medical Needle Steering under Motion and Sensor Noise using Feedback-based Information Roadmaps,” IEEE International Conference On Robotics and Automation (ICRA), Workshop on Medical Needle Steering, Saint Paul, Minnesota, 2012.
    (pdf)


  17. Arash Kalantari, Ehsan Mihankhah and Ali-akbar Agha-mohammadi, “Resquake, A Tracked Mobile Rescue Robot,” Rescue Robotics Camp, IEEE International Workshop on Safety Security and Rescue Robotics (SSRR), Rome, Italy, 2007.
    (pdf)


  18. Amirhossein Tamjidi, Ali-akbar Agha-mohammadi and Hamid D. Taghirad, “Augmenting Vision and LRF Information: Towards Encoder-free SLAM in Unstructured Environments,” Machine Vision and Image Processing Conference, Tabriz, Iran, 2008.
    (pdf)


  19. Ali-akbar Agha-mohammadi, Majid Nili Ahmadabadi and Taher S. Mirzahasanloo, “Behavior Learning in Behavior-Based Architectures Using Reinforcement Learning,” 12th International CSI Computer Conference (CSICC), Tehran, Iran, pp.171-174, 2007.
    (pdf)


  20. Ali-akbar Agha-mohammadi, “Mobile Robot Localization Using Single Camera,” 10th Iranian Student Conference on Electrical Engineering, (ISCEE), Esfahan, Iran, 2007.
    (pdf)


  21. Ali-akbar Agha-mohammadi and Taher S. Mirzahasanloo, “Path Planning Using Hopfield Neural Network,” 10th Iranian Student Conference on Electrical Engineering, (ISCEE), Esfahan, Iran, 2007.
    (pdf)


  22. Ali-akbar Agha-mohammadi and Amirhossein Tamjidi, “An Introduction to Modified Methods in Ant Colony Systems Optimization and Proposing a New Local Optimizer,” 10th Intelligent Systems Conference, Esfahan, Iran, pp.460-463, 2005.
    (pdf)


    Patents

  1. Ali-akbar Agha-mohammadi, “Rollocopter: Novel Hybrid Aerial-Ground Vehicle for Failure-Resilient, Energy-Efficient, and Agile Mobility,” Submitted to The United States Patent and Trademark Office, .
    (pdf)


  2. Ali-akbar Agha-mohammadi, “Cobots: Autonomous Cooperatives Robots for Resilient Mobility on Titan and Beyond,” Submitted to The United States Patent and Trademark Office, .
    (pdf)


  3. Zhaoyang Lv and Aliakbar Aghamohammadi, “Holistic planning with multiple intentions for self-driving cars,” US Patent App. 15/604,437, November 29 2018.
    (pdf)


  4. Zhaoyang Lv, Ali-akbar Agha-mohammadi and Amirhossein Tamjidi, “Motion Planning and Intention Prediction for Autonomous Driving in Highway Scenarios via Graphical Model-based Factorization,” US Patent App. 15/601,047, March 15 2018.
    (pdf)


  5. Ali-akbar Agha-mohammadi and Kiran Somasundaram, “Systems and methods for mapping an environment,” US Patent 9,996,944, June 12 2018.
    (pdf)


  6. Ali-akbar Agha-mohammadi et al., “Autonomous visual navigation,” US Patent App. 15/249,250, June 15 2017.
    (pdf)


  7. Ali-akbar Agha-mohammadi et al., “Simultaneous mapping and planning by a robot,” US Patent App. 15/192,719, June 8 2017.
    (pdf)


  8. Ali-akbar Agha-mohammadi, “Parallel belief space motion planner,” US Patent App. 14/941,465, January 5 2017.
    (pdf)


  9. Ali-akbar Agha-mohammadi et al., “Map generation based on raw stereo vision based measurements,” US Patent App. 15/192,874, June 8 2017.
    (pdf)


  10. Saurav Agarwal, Ali-akbar Agha-mohammadi and Kiran Somasundaram, “Rapidly-exploring randomizing feedback-based motion planning,” US Patent App. 15/192,881, June 15 2017.
    (pdf)


  11. Ali-akbar Agha-mohammadi et al., “Stochastic map-aware stereo vision sensor model,” US Patent App. 15/192,603, June 8 2017.
    (pdf)


  12. Ali-akbar Agha-mohammadi et al., “Stochastic map generation and bayesian update based on stereo vision,” US Patent App. 15/192,944, June 8 2017.
    (pdf)


  13. Ali-akbar Agha-mohammadi, Seyed Hesameddin Najafi Shoushtari and Regan Blythe Towal, “Object-focused active three-dimensional reconstruction,” US Patent App. 15/192,857, July 27 2017.
    (pdf)


  14. Regan Blythe Towal, Shayegan Omidshafiei and Ali-akbar Agha-mohammadi, “Active camera movement determination for object position and extent in three-dimensional space,” US Patent App. 15/069,834, June 8 2017.
    (pdf)


    Technical Reports

  1. Ali-akbar Agha-mohammadi, Nazim Kemal Ure, Jonathan P. How and John Vian, “Health-aware Stochastic Planning for Persistent Package Delivery Missions using Quadrotors,” Technical Report, Aerospace Controls Laboratory, Department of Aero/Astro, MIT, December 2013.
    (pdf)


  2. Ali-akbar Agha-mohammadi, Saurav Agarwal and Suman Chakravorty, “Periodic-node Graph-based Framework for Stochastic Control of Small Aerial Vehicles,” Technical Report, TAMU-EDPL-TR-2014-001, Department of Aerospace Engineering, Texas A&M University, 2014.
    (pdf)


  3. Ali-akbar Agha-mohammadi, Saurav Agarwal, Aditya Mahadevan, Suman Chakravorty, Daniel Tomkins, Jory Denny and Nancy Amato, “Dynamic Real-time Replanning in Belief Space: An Experimental Study on Physical Mobile Robots,” Technical Report, TR13-007, Department of Computer Science, Texas A&M University, July 2013.
    (pdf)


  4. Ali-akbar Agha-mohammadi, Suman Chakravorty and Nancy Amato, “Sampling-based Nonholonomic Motion Planning in Belief Space via Dynamic Feedback Linearization-based FIRM,” Technical Report: TR12-004, Parasol Lab., CSE Dept., Texas A&M University, 2012.
    (pdf)


  5. Ali-akbar Agha-mohammadi, Suman Chakravorty and Nancy Amato, “Periodic-Feedback Motion planning in belief space for non-holonomic and/or Non-stoppable robots,” Technical Report: TR12-003, Parasol Lab., CSE Dept., Texas A&M University, 2012.
    (pdf)


  6. Ali-akbar Agha-mohammadi, Suman Chakravorty and Nancy Amato, “Motion planning in belief space using sampling-based Feedback planners,” Technical Report: TR11-007, Parasol Lab., CSE Dept., Texas A&M University, 2011.
    (pdf)


  7. Ali-akbar Agha-mohammadi, Suman Chakravorty and Nancy Amato, “Probabilistic Completeness of the Belief Space Motion Planners,” Technical Report: TR11-006, Parasol Lab., CSE Dept., Texas A&M University, 2011.
    (pdf)


  8. Ali-akbar Agha-mohammadi, Suman Chakravorty and Nancy Amato, “FIRM: Feedback controller-based Information-state RoadMap, A Framework for Motion Planning Under Uncertainty,” Technical Report: TR11-001, Parasol Lab., CSE Dept., Texas A&M University, 2011.
    (pdf)


    Dissertations

  1. Ali-akbar Agha-mohammadi, “Sampling-based State Estimation and Stochastic Control for Robot Motion Planning under Motion Uncertainty and Noisy Sensor Measurements,” PhD Dissertation, Department of Computer Science and Engineering, Texas A&M University, October 2013.
    (pdf)


  2. Ali-akbar Agha-mohammadi, “Design and Implementation of Multi-sensor Fusion methods for Solving Simultaneous Localization And Mapping (SLAM) Problem,” M.Sc. Thesis, Department of Electrical and Computer Engineering, Khaje Nasir Toosi University of Technology, July 2008.
    (pdf)


  3. Ali-akbar Agha-mohammadi, “Robosoccer: Small-size Soccer Robots for Robocup Competitions,” B.Sc. Thesis, Department of Electrical and Computer Engineering, Tabriz University, June 2005.
    (pdf)