SIAVASH FARZAN

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Publications
Adaptive Estimation-Based Safety-Critical Cruise Control of Vehicular Platoons
V. Bohara and S. Farzan
(under review), 2023
[pdf] [bibtex]

Keywords: autonomous vehicles, adaptive control, control barrier functions

Robust Motion Planning for Connected Non-Holonomic Agents using Voronoi Cells and Hybrid A*
H. Vashi and S. Farzan
(under review), 2023
[pdf] [video] [bibtex]

Keywords: motion planning, multi-agent systems, connected vehicles

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

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

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

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

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

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

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

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

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

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

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

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