Kourosh Naderi

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This paper presents a novel algorithm for real-time path-planning in a dynamic environment such as a computer game. We utilize a real-time sampling approach based on the Rapidly Exploring Random Tree (RRT) algorithm that has enjoyed wide success in robotics. More specifically, our algorithm is based on the RRT* and informed RRT* variants. We contribute by(More)
In this paper we propose a centralized algorithm for stable operation of a multi-robot dome inspection, repair, and maintenance based on potential field method. The multi-robot system consists of two robots, a leader robot and a supporter robot, connected to each other by two strings. The follower robot sends its information to the leader robot for(More)
We present SaDDP, a sampled version of the widely used differential dynamic programming (DDP) control algorithm. We contribute through establishing a novel connection between two major branches of robotics control research, that is, gradient-based methods such as DDP, and Monte Carlo methods such as path integral control (PI) that utilize random simulated(More)
This paper addresses the problem of offline path and movement planning for wall climbing humanoid agents. We focus on simulating bouldering, i.e. climbing short routes with diverse moves, although we also demonstrate our system on a longer wall. Our approach combines a graph-based high-level path planner with low-level sampling-based optimization of(More)
In this paper, we propose a fast algorithm for a multi-robot system which enables the robots to stably maneuver on domes. The multi-robot system includes robots, a leader robot and one or more follower robots, which are connected to each other by strings and make a ring around the dome. The proposed algorithm employs multi-rapidly random trees (multi-RRTs)(More)
We introduce a novel approach for improving performance and motivation in sports, which we term computer-aided imagery (CAI). In many sports, mental preparation for performance involves imagery, the cognitive skill of rehearsing the task in one's mind. Imagery is however a difficult cognitive skill, which is why we propose the CAI approach, i.e., using an(More)
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