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Ashkan Jasour

Massachusetts Institute of Technology

TIP: Task-Informed Motion Prediction for Intelligent Systems


Oct 17, 2021
Xin Huang, Guy Rosman, Ashkan Jasour, Stephen G. McGill, John J. Leonard, Brian C. Williams

* 8 pages, 6 figures, 2 tables 

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HYPER: Learned Hybrid Trajectory Prediction via Factored Inference and Adaptive Sampling


Oct 05, 2021
Xin Huang, Guy Rosman, Igor Gilitschenski, Ashkan Jasour, Stephen G. McGill, John J. Leonard, Brian C. Williams

* 12 pages, 10 figures, 4 tables 

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Real-Time Risk-Bounded Tube-Based Trajectory Safety Verification


Oct 01, 2021
Ashkan Jasour, Weiqiao Han, Brian Williams

* Accepted at the 60th IEEE conference on Decision and Control(CDC) 2021 

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Fast nonlinear risk assessment for autonomous vehicles using learned conditional probabilistic models of agent futures


Sep 22, 2021
Ashkan Jasour, Xin Huang, Allen Wang, Brian C. Williams

* Accepted at Autonomous Robots. Author version, with 11 pages, 5 figures, 2 tables. Journal extension of "Fast Risk Assessment for Autonomous Vehicles Using Learned Models of Agent Futures" (Wang et al. RSS 2020, arXiv:2005.13458) 

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Risk Conditioned Neural Motion Planning


Aug 04, 2021
Xin Huang, Meng Feng, Ashkan Jasour, Guy Rosman, Brian Williams

* Accepted at IROS'21. Author version with 7 pages, 5 figures, 2 tables, and 1 algorithm 

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Convex Risk Bounded Continuous-Time Trajectory Planning in Uncertain Nonconvex Environments


Jun 10, 2021
Ashkan Jasour, Weiqiao Han, Brian Williams

* Robotics: Science and Systems (RSS) 2021 

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Moment-Based Exact Uncertainty Propagation Through Nonlinear Stochastic Autonomous Systems


Jan 29, 2021
Ashkan Jasour, Allen Wang, Brian C. Williams

* This work has been submitted to the IEEE Transactions on Automatic Control 

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Fast Risk Assessment for Autonomous Vehicles Using Learned Models of Agent Futures


Jun 03, 2020
Allen Wang, Xin Huang, Ashkan Jasour, Brian Williams

* To appear in Robotics: Science and Systems 

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Moment State Dynamical Systems for Nonlinear Chance-Constrained Motion Planning


Mar 28, 2020
Allen Wang, Ashkan Jasour, Brian Williams


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Provably Safe Trajectory Optimization in the Presence of Uncertain Convex Obstacles


Mar 17, 2020
Charles Dawson, Ashkan Jasour, Andreas Hofmann, Brian Williams

* Submitted to IROS 2020 

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Non-Gaussian Chance-Constrained Trajectory Planning for Autonomous Vehicles in the Presence of Uncertain Agents


Mar 01, 2020
Allen Wang, Ashkan Jasour, Brian Williams

* Submitted to IEEE Robotics and Automation Letters 

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Chance Constrained Motion Planning for High-Dimensional Robots


Nov 07, 2018
Siyu Dai, Shawn Schaffert, Ashkan Jasour, Andreas Hofmann, Brian Williams


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Moment-Sum-Of-Squares Approach For Fast Risk Estimation In Uncertain Environments


Oct 03, 2018
Ashkan Jasour, Andreas Hofmann, Brian C. Williams

* 57th IEEE Conference on Decision and Control 2018 

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