[C15] A MILP-Based Solution to Multi-Agent Motion Planning and Collision Avoidance in Constrained Environments
A. Jaitly and S. Farzan
(under review), 2025
[pdf] [video] [bibtex]
Keywords: multi-agent systems, motion planning

[J7] NDKF: A Neural-Enhanced Distributed Kalman Filter for Nonlinear Multi-Sensor Estimation
S. Farzan
(under review), 2025
[pdf] [bibtex] [code]
Keywords: kalman filtering, estimation, multi-agent systems

[J6] Safety-Critical Formation Control of Non-Holonomic Multi-Robot Systems in Communication-Limited Environments
V. Bohara and S. Farzan
(under review), 2025
[pdf] [bibtex]
Keywords: networked control systems, formation control, control barrier functions

[C14] Decoupled Multi-Robot Localization and Target Tracking via Dynamic Covariance Scaling and Inverse Covariance Fusion
C. Prabhakar and S. Farzan
American Control Conference (ACC), Jul. 2025
[pdf] [bibtex]
Keywords: multi-agent systems, distributed localization

[C13] PAAMP: Polytopic Action-Set And Motion Planning For Long Horizon Dynamic Motion Planning via Mixed Integer Linear Programming
A. Jaitly and S. Farzan
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct. 2024
[pdf] [video] [bibtex]
Keywords: motion planning, optimization

[J5] Automatic Focus Adjustment for Single-Spot Tissue Temperature Control in Robotic Laser Surgery
N.E. Pacheco, C.S. Gaddipati, S. Farzan, and L. Fichera
IEEE Transactions on Medical Robotics and Bionics (TMRB), 2024
[pdf] [bibtex]
Keywords: surgical robotics, laser surgery, laser-tissue interactions

[J4] Adaptive Estimation-Based Safety-Critical Cruise Control of Vehicular Platoons
V. Bohara and S. Farzan
IEEE Transactions on Vehicular Technology (TVT), 2024
[pdf] [bibtex]
Keywords: autonomous vehicles, adaptive control, control barrier functions

[C12] Learning-Based Design of Off-Policy Gaussian Controllers: Integrating Model Predictive Control and Gaussian Process Regression
S. Tekumatla, V. Gampa, and S. Farzan
American Control Conference (ACC), Jul. 2024
[pdf] [bibtex]
Keywords: learning-based control, model predective control, gaussian processes

[C11] Perception-Driven Robotic Manipulation for Packaging Stack of Envelopes: Gripper Design and Manipulation Strategies
R. Venkataramanan, Z. Ma, J. Xiao, and S. Farzan
IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Jul. 2024
[pdf] [video] [bibtex]
Keywords: robotic manipulation, grasping of deformable objects, gripper design

[C10] Unified Safety-Critical Motion Planning for Connected Non-Holonomic Agents using an Adaptive A* and Hybrid A* Integration
H. Vashi, S. Shanbhag, and S. Farzan
IEEE International Conference on Ubiquitous Robots (UR), Jun. 2024
[pdf] [video] [bibtex]
Keywords: motion planning, multi-agent systems, connected vehicles

[C9] Semantic Segmentation for Robotic Apple Harvesting: A Deep Learning Approach Leveraging U-Net, Synthetic Data, and Domain Adaptation
G. Selvaraj and S. Farzan
IEEE International Conference on Ubiquitous Robots (UR), Jun. 2024
[pdf] [bibtex]
Keywords: semantic segmentation, U-Net deep learning, robotic apple harvesting

[C8] Project-Based Learning for Robot Control Theory: A Robot Operating System (ROS) Based Approach
S. Farzan
ASEE Annual Conference & Exposition, American Society for Engineering Education, Jun. 2023
[pdf] [video] [bibtex]
Keywords: engineering education, project-based learning, robotics, control theory

[J3] Active Space Control of Underactuated Robots: From Adaptation to Robustness to Optimality
V. Azimi, S. Farzan, A. D. Ames, P. A. Vela, and S. Hutchinson
Wiley International Journal of Adaptive Control and Signal Processing, Jul. 2022
[pdf] [bibtex]
Keywords: underactuated system, robust control Lyapunov function, adaptive concurrent learning, quadratic program

[J2] A Robust Time-Varying Riccati-Based Control for Uncertain Nonlinear Dynamical Systems
V. Azimi, S. Farzan, and S. Hutchinson
ASME Journal of Dynamic Systems, Measurement and Control, Jun. 2022
[pdf] [video] [bibtex]
Keywords: Riccati equation, optimal least squares (OLS) algorithm, robust control

[J1] Adaptive Control of Wire-Borne Underactuated Brachiating Robots Using Control Lyapunov and Barrier Functions
S. Farzan, V. Azimi, A. P. Hu, and J. Rogers
IEEE Transactions on Control Systems Technology (TCST), Mar. 2022
[pdf] [video] [bibtex]
Keywords: robust control Lyapunov function, adaptive function approximation, robust control barrier function, quadratic programs, underactuated robotics

[C7] Cable Estimation-Based Control for Wire-Borne Underactuated Brachiating Robots: A Combined Direct-Indirect Adaptive Robust Approach
S. Farzan, V. Azimi, A. P. Hu, and J. Rogers
IEEE Conference on Decision and Control (CDC), Dec. 2020
[pdf] [video] [bibtex]
Keywords: sliding mode control, indirect adaptive estimation, direct adaptive control, underactuated robotics

[C6] Robust Control Synthesis and Verification for Wire-Borne Underactuated Brachiating Robots Using Sum-of-Squares Optimization
S. Farzan, A. P. Hu, M. Bick, and J. Rogers
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct. 2020
[pdf] [video] [bibtex]
Keywords: sum-of-squares (SOS) optimization, semidefinite programming (SDP), robust control, underactuated robotics

[P1] Path Planning in Dynamic Environments Using Time-Warped Grids and a Parallel Implementation
S. Farzan and G. N. DeSouza
arXiv, Mar. 2019
[pdf] [video] [bibtex]
Keywords: path planning, parallel programming, harmonic potential fields, rubber band model, GPU

[C5] Feedback Motion Planning and Control of Brachiating Robots Traversing Flexible Cables
S. Farzan, A. P. Hu, E. Davies, and J. Rogers
American Control Conference (ACC), Jul. 2019
[pdf] [video] [bibtex]
Keywords: time-varying LQR, brachiation, underactuated robotics

[C4] Tarzan: Design, Prototyping, and Testing of a Wire-borne Brachiating Robot
E. Davies, A. Garlow, S. Farzan, A. P. Hu, and J. Rogers
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct. 2018
[pdf] [video] [bibtex]
Keywords: mechanical design, brachiation

[C3] Modeling and Control of Brachiating Robots Traversing Flexible Cables
S. Farzan, A. P. Hu, E. Davies, and J. Rogers
IEEE International Conference on Robotics and Automation (ICRA), May 2018
[pdf] [video] [bibtex]
Keywords: trajectory optimization, high-fidelity dynamic modeling, brachiation, underactuated robotics

[C2] A Parallel Evolutionary Solution for the Inverse Kinematics of Generic Robotic Manipulators
S. Farzan and G. N. DeSouza
IEEE Congress on Evolutionary Computation (CEC), Jul. 2014
[pdf] [video] [bibtex]
Keywords: inverse kinematics, evolutionary algorithms, serial manipulators, parallel computing, Denavit-Hartenberg

[C1] From D-H to Inverse Kinematics: A Fast Numerical Solution for General Robotic Manipulators Using Parallel Processing
S. Farzan and G. N. DeSouza
IEEE International Conference on Intelligent Robots and Systems (IROS), Nov. 2013
[pdf] [video] [bibtex]
Keywords: inverse kinematics, parallel computing, serial manipulators, Denavit-Hartenberg, POSIX threads