All Outputs (4)

A Real-Time RRT-APF Approach for Efficient Multi-Robot Navigation in Complex Environments (2025)
Presentation / Conference Contribution
Zhang, K., Zahmatkesh, M., Stefanec, M., Arvin, F., & Hu, J. (2025, March). A Real-Time RRT-APF Approach for Efficient Multi-Robot Navigation in Complex Environments. Presented at 2025 IEEE International Conference on Industrial Technology, China

This paper proposes a real-time multi-robot navigation method that integrates the Rapidly-exploring Random Tree (RRT) algorithm with the improved Artificial Potential Field (APF) approach. Since traditional path planning methods often face problems s... Read More about A Real-Time RRT-APF Approach for Efficient Multi-Robot Navigation in Complex Environments.

T-STAR: Time-Optimal Swarm Trajectory Planning for Quadrotor Unmanned Aerial Vehicles (2025)
Journal Article
Pan, H., Zahmatkesh, M., Rekabi-Bana, F., Arvin, F., & Hu, J. (online). T-STAR: Time-Optimal Swarm Trajectory Planning for Quadrotor Unmanned Aerial Vehicles. IEEE Transactions on Intelligent Transportation Systems, https://doi.org/10.1109/TITS.2025.3557783

This paper introduces a time-optimal swarm tra-jectory planner for cooperative unmanned aerial vehicle (UAV) systems, designed to generate collision-free trajectories for flocking control in cluttered environments. To achieve this goal, model predict... Read More about T-STAR: Time-Optimal Swarm Trajectory Planning for Quadrotor Unmanned Aerial Vehicles.

Robust neuro-adaptive command-filtered back-stepping fault-tolerant control of satellite using composite learning (2024)
Journal Article
Ezabadi, M., Zahmatkesh, M., Emami, S. A., & Castaldi, P. (2025). Robust neuro-adaptive command-filtered back-stepping fault-tolerant control of satellite using composite learning. Advances in Space Research, 75(1), 1231-1244. https://doi.org/10.1016/j.asr.2024.09.041

This study proposes an adaptive neural command-filtered backstepping control system for precise and fast attitude control of a satellite considering different uncertain dynamics. Mission success crucially depends on robust attitude control resilient... Read More about Robust neuro-adaptive command-filtered back-stepping fault-tolerant control of satellite using composite learning.

Robust Attitude Control of an Agile Aircraft Using Improved Q-Learning (2022)
Journal Article
Zahmatkesh, M., Emami, S., Banazadeh, A., & Castaldi, P. (2022). Robust Attitude Control of an Agile Aircraft Using Improved Q-Learning. Actuators, 11(12), Article 374. https://doi.org/10.3390/act11120374

Attitude control of a novel regional truss-braced wing (TBW) aircraft with low stability characteristics is addressed in this paper using Reinforcement Learning (RL). In recent years, RL has been increasingly employed in challenging applications, par... Read More about Robust Attitude Control of an Agile Aircraft Using Improved Q-Learning.