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. [Under Review] Ali-akbar Agha-mohammadi, Eric Heiden, Karol Hausman, Gaurav Sukhatme, “Confidence-rich Grid Mapping: An environment representation for safety-critical navigation,” .
    (pdf)

  3. Beipeng Mu, Liam Paull, Ali-Akbar Agha-Mohammadi, John J. Leonard and Jonathan P. How, “Two-Stage Focused Inference for Resource-Constrained Collision-Free Navigation,” IEEE Transactions on Robotics (TRO) , vol. 33, no. 1, pp. 124-140, 2017.
    (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.,“SLAP: Simultaneous Localization and Planning for Physical Mobile Robots via Enabling Dynamic Replanning in Belief Space,” IEEE Transactions on Robotics (TRO) .
    (pdf)

  2. 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)

  3. Beipeng Mu, Liam Paull, Ali-Akbar Agha-Mohammadi, John J. Leonard and Jonathan P. How, “Two-Stage Focused Inference for Resource-Constrained Collision-Free Navigation,” IEEE Transactions on Robotics (TRO) , vol. 33, no. 1, pp. 124-140, 2017.
    (pdf)

  4. 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)

  5. 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)

  6. 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)

  7. 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, “Measurable Augmented Reality for Prototyping Cyberphysical Systems: A Robotics Platform to Aid the Hardware Prototyping and Performance Testing of Algorithms,” IEEE Control Systems Magazine (CSM) , vol. 36, no. 6, pp. 65-87, 2016.
    (pdf)

  8. 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), Reston, VA, 2012.

    Refereed Conferences Papers

  1. [Under Review] Ali-akbar Agha-mohammadi, Eric Heiden, Karol Hausman, Gaurav Sukhatme, “Confidence-rich Grid Mapping: An environment representation for safety-critical navigation,” .
    (pdf)

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

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

  4. 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,” in IEEE Conference on Decision and Control (CDC), Las Vegas, NV, December 2016.
    (pdf)

  5. 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,” in IEEE International Conference on Robotics and Automation (ICRA), Stockholm, Sweden, May 2016.
    (pdf)

  6. 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,” in Robotics: Science and Systems (RSS), Rome, Italy, July 2015.
    (pdf)

  7. 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,” in IEEE International Conference on Robotics and Automation (ICRA), Washington, Seattle , pp. 5962-5969, May 2015.
    (pdf)

  8. 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,” in International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, pp. 5181-5188, September 2015.
    (pdf)

  9. 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 (MARCPS),” in AIAA Infotech, Kissimmee, FL, January 2016.
    (pdf)

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

  11. 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,” in IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, China, May 2014.
    (pdf)

  12. Ali-akbar Agha-mohammadi, Suman Chakravorty and Nancy Amato, “Sampling-based Stochastic Control with Constraints: A Unified Approach in State and Information Spaces,” in American Control Conference (ACC), Washington DC, June 2013.
    (pdf)

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

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

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

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

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

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

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

  20. 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,” in European Conference on Mobile Robots (ECMR), Freiburg, Germany, pp. 253-258, September 2007.
    (pdf)

    Workshop Papers/posters

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

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

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

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

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

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

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

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

    Patents (submitted)

  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. Zhaoyang Lv and Ali-akbar Agha-mohammadi, “Holistic Planning with Multiple Intentions for Self-driving Cars,” Submitted to The United States Patent and Trademark Office .
    (pdf)

  3. Zhaoyang Lv, Ali-akbar Agha-mohammadi and Amirhossein Tamjidi, “Motion Planning and Intention Prediction for Autonomous Driving in Highway Scenarios via Factor Graph Representation,” Submitted to The United States Patent and Trademark Office .
    (pdf)

  4. Ali-akbar Agha-mohammadi, Kiran Somasundaram and Saurav Agarwal, “Measurement Fusion for 3D grid Mapping using cause-dependent inverse cause models,” Submitted to The United States Patent and Trademark Office .
    (pdf)

  5. Ali-akbar Agha-mohammadi et al., “Vision-based Autonomous Navigation System for Quadcopters,” Submitted to The United States Patent and Trademark Office .
    (pdf)

  6. Ali-akbar Agha-mohammadi et al., “RRF: Rapidly Exploring Randomized Feedback Trees for Robot Motion Planning,” Submitted to The United States Patent and Trademark Office .
    (pdf)

  7. Ali-akbar Agha-mohammadi et al., “Certainty-aware 3D Grid Map and Bayesian Update based on Stereo Vision,” Submitted to The United States Patent and Trademark Office .
    (pdf)

  8. Ali-akbar Agha-mohammadi et al., “Most Likely Map Computation based on Raw Stereo Vision Measurements,” Submitted to The United States Patent and Trademark Office .
    (pdf)

  9. Ali-akbar Agha-mohammadi et al., “Stochastic Map-aware Stereo-vision Sensor Model for Robot Navigation in Unknown Environments,” Submitted to The United States Patent and Trademark Office .
    (pdf)

  10. Ali-akbar Agha-mohammadi et al., “Robot Motion Planning and Exploration using Certainty-aware Stochastic Grid Maps,” Submitted to The United States Patent and Trademark Office .
    (pdf)

  11. Ali-akbar Agha-mohammadi et al., “Object-focused Active 3D Reconstruction using Monocular Camera: Application to Precision Robotic Grasping,” Submitted to The United States Patent and Trademark Office .
    (pdf)

  12. Ali-akbar Agha-mohammadi et al., “Active Camera Movement Determination for Object Position and Extent in Three-Dimensional Space,” Submitted to The United States Patent and Trademark Office .
    (pdf)

  13. Ali-akbar Agha-mohammadi et al., “Parallel Robot Motion Planning Under Uncertainty,” Submitted to The United States Patent and Trademark Office .
    (pdf)

  14. Jonathan P. How, John Vian, Shayegan Omidshafiei and Ali-akbar Agha-mohammadi, “Cyber-Physical Systems Prototyping Environment,” Submitted to The United States Patent and Trademark Office .
    (pdf)

    Refereed non-English Papers

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

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

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

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

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