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Ali-akbar Agha-mohammadi

Jet Propulsion Lab., California Institute of Technology and

$D^*_{+}$: A Generic Platform-Agnostic and Risk-Aware Path Planing Framework with an Expandable Grid


Dec 10, 2021
Samuel Karlsson, Anton Koval, Christoforos Kanellakis, Ali-akbar Agha-mohammadi, George Nikolakopoulos

* 7 pages, 10 figures, submitted to ICRA 2022 

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Direct LiDAR Odometry: Fast Localization with Dense Point Clouds


Oct 01, 2021
Kenny Chen, Brett T. Lopez, Ali-akbar Agha-mohammadi, Ankur Mehta


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COMPRA: A COMPact Reactive Autonomy framework for subterranean MAV based search-and-rescue operations


Aug 30, 2021
Björn Lindqvist, Christoforos Kanellakis, Sina Sharif Mansouri, Ali-akbar Agha-mohammadi, George Nikolakopoulos

* 19 pages, 10 figures 

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Learning Risk-aware Costmaps for Traversability in Challenging Environments


Jul 25, 2021
David D. Fan, Ali-akbar Agha-mohammadi, Evangelos A. Theodorou


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Belief Space Planning: A Covariance Steering Approach


May 24, 2021
Dongliang Zheng, Jack Ridderhof, Panagiotis Tsiotras, Ali-akbar Agha-mohammadi


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Exploration-RRT: A multi-objective Path Planning and Exploration Framework for Unknown and Unstructured Environments


Apr 08, 2021
Björn Lindqvist, Ali-akbar Agha-mohammadi, George Nikolakopoulos

* 8 pages, 8 figures, 3 algorithms 

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Towards Robust State Estimation by Boosting the Maximum Correntropy Criterion Kalman Filter with Adaptive Behaviors


Mar 29, 2021
Seyed Fakoorian, Angel Santamaria-Navarro, Brett T. Lopez, Dan Simon, Ali-akbar Agha-mohammadi


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Robust Collision-free Lightweight Aerial Autonomy for Unknown Area Exploration


Mar 16, 2021
Sunggoo Jung, Hanseob Lee, David Hyunchul Shim, Ali-akbar Agha-mohammadi

* 8 pages 

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PLGRIM: Hierarchical Value Learning for Large-scale Exploration in Unknown Environments


Feb 10, 2021
Sung-Kyun Kim, Amanda Bouman, Gautam Salhotra, David D. Fan, Kyohei Otsu, Joel Burdick, Ali-akbar Agha-mohammadi


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DARE-SLAM: Degeneracy-Aware and Resilient Loop Closing in Perceptually-Degraded Environments


Feb 09, 2021
Kamak Ebadi, Matteo Palieri, Sally Wood, Curtis Padgett, Ali-akbar Agha-mohammadi

* Accepted for publication in Journal of Intelligent and Robotic Systems, 2021 

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LION: Lidar-Inertial Observability-Aware Navigator for Vision-Denied Environments


Feb 05, 2021
Andrea Tagliabue, Jesus Tordesillas, Xiaoyi Cai, Angel Santamaria-Navarro, Jonathan P. How, Luca Carlone, Ali-akbar Agha-mohammadi

* 2020 International Symposium on Experimental Robotics (ISER 2020) 

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BAXTER: Bi-modal Aerial-Terrestrial Hybrid Vehicle for Long-endurance Versatile Mobility: Preprint Version


Feb 05, 2021
Hyungho Chris Choi, Inhwan Wee, Micah Corah, Sahand Sabet, Taeyeon Kim, Thomas Touma, David Hyunchul Shim, Ali-akbar Agha-mohammadi

* 13 pages, 8 figures, 1 table. Accepted to ISER 2020 

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Autonomous Off-road Navigation over Extreme Terrains with Perceptually-challenging Conditions


Jan 26, 2021
Rohan Thakker, Nikhilesh Alatur, David D. Fan, Jesus Tordesillas, Michael Paton, Kyohei Otsu, Olivier Toupet, Ali-akbar Agha-mohammadi

* 12 Pages, 7 Figures, 2020 International Symposium on Experimental Robotics (ISER 2020) 

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Unsupervised Monocular Depth Learning with Integrated Intrinsics and Spatio-Temporal Constraints


Nov 02, 2020
Kenny Chen, Alexandra Pogue, Brett T. Lopez, Ali-akbar Agha-mohammadi, Ankur Mehta

* Submitted to the 2021 IEEE International Conference on Robotics and Automation (ICRA), Xi'an, China 

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Autonomous Spot: Long-Range Autonomous Exploration of Extreme Environments with Legged Locomotion


Nov 01, 2020
Amanda Bouman, Muhammad Fadhil Ginting, Nikhilesh Alatur, Matteo Palieri, David D. Fan, Thomas Touma, Torkom Pailevanian, Sung-Kyun Kim, Kyohei Otsu, Joel Burdick, Ali-akbar Agha-mohammadi

* Updated copyright statement 

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Unsupervised Deep Persistent Monocular Visual Odometry and Depth Estimation in Extreme Environments


Oct 31, 2020
Yasin Almalioglu, Angel Santamaria-Navarro, Benjamin Morrell, Ali-akbar Agha-mohammadi

* Submitted to ICRA2021 

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Autonomous Hybrid Ground/Aerial Mobility in Unknown Environments


Sep 11, 2020
David D. Fan, Rohan Thakker, Tara Bartlett, Meriem Ben Miled, Leon Kim, Evangelos Theodorou, Ali-akbar Agha-mohammadi


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Towards Resilient Autonomous Navigation of Drones


Aug 21, 2020
Angel Santamaria-Navarro, Rohan Thakker, David D. Fan, Benjamin Morrell, Ali-akbar Agha-mohammadi

* In International Symposium on Robotics Research (ISRR) 2019 

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Where to Map? Iterative Rover-Copter Path Planning for Mars Exploration


Aug 17, 2020
Takahiro Sasaki, Kyohei Otsu, Rohan Thakker, Sofie Haesaert, Ali-akbar Agha-mohammadi

* IEEE Robotics and Automation Letters, Volume: 5 , Issue: 2 , April 2020 
* 8 pages, 7 figures 

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Nonlinear MPC for Collision Avoidance and Controlof UAVs With Dynamic Obstacles


Aug 03, 2020
Björn Lindqvist, Sina Sharif Mansouri, Ali-akbar Agha-mohammadi, George Nikolakopoulos

* IEEE Robotics and Automation Letters, vol. 5, no. 4, pp. 6001-6008, Oct. 2020 
* 8 pages, 10 figures 

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A Unified NMPC Scheme for MAVs Navigation with 3D Collision Avoidance under Position Uncertainty


Jul 31, 2020
Sina Sharif Mansouri, Christoforos Kanellakis, Bjorn Lindqvist, Farhad Pourkamali-Anaraki, Ali-akbar Agha-mohammadi, Joel Burdick, George Nikolakopoulos

* IEEE Robotics and Automation Letters, Volume 5, Issue 4, On Page(s) 5740-5747, October 2020 

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Confidence-rich grid mapping


Jun 29, 2020
Ali-akbar Agha-mohammadi, Eric Heiden, Karol Hausman, Gaurav S. Sukhatme

* The International Journal of Robotics Research, 38(12-13), 1352-1374 (2019) 
* Published at International Journal of Robotics Research (IJRR) 2019 (https://journals.sagepub.com/doi/10.1177/0278364919839762

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Unsupervised Learning for Subterranean Junction Recognition Based on 2D Point Cloud


Jun 07, 2020
Sina Sharif Mansouri, Farhad Pourkamali-Anaraki, Miguel Castano Arranz, Ali-akbar Agha-mohammadi, Joel Burdick, George Nikolakopoulos


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The Shapeshifter: a Morphing, Multi-Agent,Multi-Modal Robotic Platform for the Exploration of Titan (preprint version)


Mar 16, 2020
Ali-akbar Agha-mohammadi, Andrea Tagliabue, Stephanie Schneider, Benjamin Morrell, Marco Pavone, Jason Hofgartner, Issa A. D. Nesnas, Rashied B. Amini, Arash Kalantari, Alessandra Babuscia, Jonathan Lunine

* Ali-akbar Agha-mohammadi is the Principal Investigator. arXiv admin note: substantial text overlap with arXiv:2002.00515 

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LAMP: Large-Scale Autonomous Mapping and Positioning for Exploration of Perceptually-Degraded Subterranean Environments


Mar 05, 2020
Kamak Ebadi, Yun Chang, Matteo Palieri, Alex Stephens, Alex Hatteland, Eric Heiden, Abhishek Thakur, Nobuhiro Funabiki, Benjamin Morrell, Sally Wood, Luca Carlone, Ali-akbar Agha-mohammadi


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Deep Learning Tubes for Tube MPC


Feb 05, 2020
David D. Fan, Ali-akbar Agha-mohammadi, Evangelos A. Theodorou


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Shapeshifter: A Multi-Agent, Multi-Modal Robotic Platform for Exploration of Titan


Feb 03, 2020
Andrea Tagliabue, Stephanie Schneider, Marco Pavone, Ali-akbar Agha-mohammadi


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