Ali Karimoddini
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Multi-UAV Tasking and Coordination for Monitoring and Coverage of Agricultural Farmland Open
With global population growth accelerating and food demand rising, the need for efficient farmland surveying to maximize crop yields through precision agriculture has never been more critical. Unmanned Aerial Vehicles (UAVs) have emerged a…
Aggie Auto Shuttles: Technical Insights from the Public Road Demonstration Open
This paper explores the viability of automated shuttles for urban and suburban transportation through the Aggie Auto Shuttles pilot project conducted by researchers at North Carolina A&T State University in Greensboro, North Carolina, USA.…
Adaptive Input Sampling: A Novel Approach for Efficient Object Detection in High Resolution Traffic Monitoring Images Open
Real-time traffic monitoring based on artificial intelligence (AI) models is essential for efficient transportation management, but it faces significant computational challenges, particularly when processing high-resolution video footage. …
Data Communication Challenges of Connected and Automated Vehicles in Rural Areas Open
The integration of connected and automated vehicles (CAVs) into rural areas offers a promising solution to the unique challenges posed by limited infrastructure. This paper provides an in-depth review of the key data communication challeng…
Receding horizon based collision avoidance for UAM aircraft at intersections Open
Urban Air Mobility (UAM) is an emerging aviation sector which the goal is to transform air transportation with safe, on-demand air travel for both passengers and cargo. UAM flight planning strategically separates flows of aircraft on inter…
Performance-Aware Trust Modeling within a Human–Multi-Robot Collaboration Setting Open
In this study, a novel time-driven mathematical model for trust is developed considering human–multi-robot performance for a Human–Robot Collaboration (HRC) framework. For this purpose, a model is developed to quantify human performance co…
Decentralized Most Permissive Observer Architecture for Brake Leakage Diagnosis in Automotive Systems Open
Brake systems represent one of the most critical components contributing to the safety of modern automotive systems. They are commonly referenced as one of the most vehicle-related factors in fatal crashes. Usually, the faults in this type…
Sliding Mode Control for Robust Path Tracking of Automated Vehicles in Rural Environments Open
Achieving robust path tracking is essential for efficiently operating autonomous driving systems, particularly in unpredictable environments. This paper introduces a novel path-tracking control methodology utilizing a variable second-order…
Connected autonomous vehicles: State of practice Open
Connected autonomous vehicles (CAVs) have the potential to deal with the steady increase in road traffic while solving transportation related issues such as traffic congestion, pollution, and road safety. Therefore, CAVs are becoming incre…
Multi-UAV trajectory planning problem using the difference of convex function programming Open
The trajectory planning problem for a swarm of multiple UAVs is known as a challenging nonconvex optimization problem, particularly due to a large number of collision avoidance constraints required for individual pairs of UAVs in the swarm…
Decentralized modular hybrid supervisory control for the formation of unmanned helicopters Open
Formation control of Unmanned Aerial Vehicles (UAVs) requires them to tightly cooperate to reach and keep the formation, while avoiding collision. This paper proposes a novel decentralized hybrid supervisory control approach for the format…
Deep Convolutional Neural Networks for Weeds and Crops Discrimination From UAS Imagery Open
Weeds are among the significant factors that could harm crop yield by invading crops and smother pastures, and significantly decrease the quality of the harvested crops. Herbicides are widely used in agriculture to control weeds; however, …
Automatic Test and Evaluation of Autonomous Systems Open
Physical test and evaluation (T&E) of autonomous systems in actual settings is resource intensive and time exhaustive. Simulation-based testing, however, can reduce the testing cost and time, allowing for testing the whole operation envelo…
A Software Tool for Evaluating Unmanned Autonomous Systems Open
The North Carolina Agriculture and Technical State University (NC A&T) in collaboration with Georgia Tech Research Institute (GTRI) has developed methodologies for creating simulation-based technology tools that are capable of inferring th…
An inferencing structure for MPO‐based decentralized dynamic fault diagnosis Open
This paper addresses the problem of fault diagnosis in discrete event systems through a decentralized structure. Within the proposed decentralized diagnosis structure, local most permissive bbservers (MPOs) are employed as diagnosis tools,…
A Pedestrian Detection and Tracking Framework for Autonomous Cars: Efficient Fusion of Camera and LiDAR Data Open
This paper presents a novel method for pedestrian detection and tracking by fusing camera and LiDAR sensor data. To deal with the challenges associated with the autonomous driving scenarios, an integrated tracking and detection framework i…
Leaderless Swarm Formation Control: From Global Specifications to Local Control Laws Open
This paper introduces a distributed leaderless swarm formation control\nframework to address the problem of collectively driving a swarm of robots to\ntrack a time-varying formation. The swarm's formation is captured by the\ntrajectory of …
SD-VEC: Software-Defined Vehicular Edge Computing with Ultra-Low Latency Open
New paradigm shifts and 6G technological revolution in vehicular services have emerged toward unmanned driving, automated transportation, and self-driving vehicles. As the technology for autonomous vehicles becomes mature, real challenges …
View article: Towards Energy-Aware Feedback Planning for Long-Range Autonomous Underwater Vehicles
Towards Energy-Aware Feedback Planning for Long-Range Autonomous Underwater Vehicles Open
Ocean ecosystems have spatiotemporal variability and dynamic complexity that require a long-term deployment of an autonomous underwater vehicle for data collection. A new generation of long-range autonomous underwater vehicles (LRAUVs), su…
Design of smooth hybrid controllers for a class of non‐linear systems Open
Symbolic planning techniques rely on abstract information about a continuous system to design a discrete planner to satisfy desired high‐level objectives. However, applying the generated discrete commands of the discrete planner to the ori…
Robust Dynamic Average Consensus for a Network of Agents with Time-varying Reference Signals Open
This paper presents continuous dynamic average consensus (DAC) algorithms for a group of agents to estimate the average of their time-varying reference signals cooperatively. We propose consensus algorithms that are robust to agents joinin…
Learning a Partially-Known Discrete Event System Open
There are many cases in which our understanding of a system may be limited due to its complexity or lack of access into the entire system, leaving us with only partial system knowledge. This paper proposes a novel systematic active-learnin…
Design of a Smooth Landing Trajectory Tracking System for a Fixed-wing Aircraft Open
This paper presents a landing controller for a fixed-wing aircraft during the\nlanding phase, ensuring the aircraft reaches the touchdown point smoothly. The\nlanding problem is converted to a finite-time linear quadratic tracking (LQT)\np…
Heterogeneous UAV Cells: An Effective Resource Allocation Scheme for Maximum Coverage Performance Open
This paper develops an effective approach for the 3D deployment of a heterogeneous set of unmanned aerial vehicles (UAVs) acting as aerial base stations that provide maximum wireless coverage for ground users in a given geographical area. …
Stable Gene Regulatory Network Modeling From Steady-State Data Open
Gene regulatory networks represent an abstract mapping of gene regulations in living cells. They aim to capture dependencies among molecular entities such as transcription factors, proteins and metabolites. In most applications, the regula…