Hossein Khodadadi

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The extended Kalman filter (EKF) provides an efficient method for generating approximate maximumlikelihood estimates of the states or parameters of discrete-time nonlinear dynamical systems. In this paper, we consider the dual-estimation problem, the so-called dual EKF, in which both the states of a dynamical system and its parameters are estimated(More)
In this paper, the problem of multi-vehicle cooperative interception of moving objects with unknown arrival times, trajectories and dynamics is investigated. The vehicles are assumed to have limited sensing and communication ranges. Therefore centralized approaches are not efficient, especially for the case of large number of vehicles and targets. In this(More)
In this paper, the cooperative multi-target interception problem in uncertain environment with double-integrators vehicles is investigated. By defining a time discounting reward function for each target which can be collected only if it is visited by a vehicle, this problem can be formulated as an optimization problem which maximizes the expected reward(More)
In this paper, the Maximum Reward Collection Problem (MRCP) in uncertain environments is investigated where multiple agents cooperate to maximize the total reward collected from a set of moving targets in the mission space with unknown arrival times, trajectories and dynamics. The reward with respect to each of the targets has a time discounting value and(More)
Ultrasound elastography involves measuring the mechanical properties of tissue, and has many applications in diagnostics and intervention. A common step in different elastography methods is imaging the tissue while it undergoes deformation and estimating the displacement field from the images. A popular next step is to estimate tissue strain, which gives(More)
Nonlinear model predictive control (NMPC) proves to be a suitable technique for controlling nonlinear systems, However, the need for the online non-convex nonlinear optimization in the NMPC algorithm increases its computational burden and leads to unreliable or even unstable control. In this paper, a computationally efficient observer-based NMPC approach(More)
Receding Horizon based Cooperative Vehicle Control with Optimal Task Allocation Mohammad Khosravi The problem of cooperative multi-target interception in an uncertain environment is investigated in this thesis. The targets arrive in the mission space sequentially at a priori unknown time instants and a priori unknown locations, and then move on a priori(More)
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