Farrokh Janabi-Sharifi

Discrete-time adaptive windowing for velocity estimation

Farrokh Janabi-Sharifi, Vincent Hayward, Chung-Shin J. Chen
IEEE Trans. Contr. Sys. Techn.
2000

We present methods for velocity estimation from discrete and quantized position samples using adaptive windowing. Previous methods necessitate tradeoffs between noise reduction, control delay,… (More)

A Kalman-Filter-Based Method for Pose Estimation in Visual Servoing

Farrokh Janabi-Sharifi, Mohammed Marey
IEEE Transactions on Robotics
2010

The problem of estimating position and orientation (pose) of an object in real time constitutes an important issue for vision-based control of robots. Many vision-based pose-estimation schemes in… (More)

Trajectory Learning for Robot Programming by Demonstration Using Hidden Markov Model and Dynamic Time Warping

Aleksandar Vakanski, Iraj Mantegh, Andrew T. Irish, Farrokh Janabi-Sharifi
IEEE Transactions on Systems, Man, and…
2012

The main objective of this paper is to develop an efficient method for learning and reproduction of complex trajectories for robot programming by demonstration. Encoding of the demonstrated… (More)

Adaptive filtering for pose estimation in visual servoing

Maurizio Ficocelli, Farrokh Janabi-Sharifi
IROS
2001

The extended Kalman filter has been shown to produce accurate pose estimates for visual servoing, assuming that the dynamic noise covariance is known prior to application. Poor estimation of the… (More)

Image-based tracking control of VTOL unmanned aerial vehicles

Abdelkader Abdessameud, Farrokh Janabi-Sharifi
Automatica
2015

This paper addresses the image-based control problem of vertical take-off and landing (VTOL) unmanned aerial vehicles (UAVs). Specifically, we propose a control scheme allowing the aircraft to track… (More)

Automatic selection of image features for visual servoing

Farrokh Janabi-Sharifi, William J. Wilson
IEEE Trans. Robotics and Automation
1997

Teleoperation systems design using augmented wave-variables and Smith predictor method for reducing time-delay effects

The performance of a wave-based teleoperator is heavily dependent on the amount of time delay present in the system. Although wave variables provide a very promising method to establish teleoperation… (More)

A Fast Approach for Robot Motion Planning

Farrokh Janabi-Sharifi, William J. Wilson
Journal of Intelligent and Robotic Systems
1999

This paper describes a new approach to robot motion planning that combines the endpoint motion planning with joint trajectory planning for collision avoidance of the links. Local and global methods… (More)

Hybrid motion control and planning strategies for visual servoing

Lingfeng Deng, Farrokh Janabi-Sharifi, William J. Wilson
IEEE Transactions on Industrial Electronics
2005

This paper presents two hybrid strategies for robot visual servoing. Two specific image constraints, the image singularities and image local minima, are considered in both strategies. The hybrid… (More)

Stability and Robustness of Visual Servoing Methods

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