Host institutions and supervisors
Tampere University, Prof. Ghabcheloo
Hiab AB, Dr. Rösth
Research project
Transfer learning for safe motion control of a heavy duty under-actuated crane in the presence of obstacles. – ESR 8
Scientific backgroud
Master of Science in Aerospace Engineering, Sharif University of Technology (2020) – Thesis: “Fault-tolerant attitude control of satellite using μ-synthesis”. Bachelor of Science in Aerospace Engineering, Sharif University of Technology (2017) – Thesis: “Dynamic-programming based failure-tolerant control for satellite in 6DOF motion”. Recipient of the 2016 Graduate Aircraft Design Competitions Award from the American Institute of Aeronautics and Astronautics (AIAA)
Publications
- A. Taheri, P. Gustafsson, M. Rösth, R. Ghabcheloo and J. Pajarinen. (2022). Nonlinear Model Learning for Compensation and Feedforward Control of Real-World Hydraulic Actuators Using Gaussian Processes. In IEEE Robotics and Automation Letters, vol. 7, no. 4, pp. 9525-9532, Oct. 2022, doi: 10.1109/LRA.2022.3190808.
- Taheri, A., & Assadian, N. (2020). Dynamic-programming-based failure-tolerant control for satellite with thrusters in 6-DOF motion. Advances in Space Research, 65(12), 2857-2877, doi: 10.1016/j.asr.2020.03.021.
- Shi, X., Taheri, A., Cecen, T., & Celik, N. (2020). Particle Filtering-Based Low-Elevation Target Tracking with Multipath Interference Over the Ocean Surface. IEEE Transactions on Aerospace and Electronic Systems, 56(4), 3044-3054, doi: 10.1109/TAES.2019.2961843.
Conference proceedings
- A. Taheri, J. Pajarinen, and R. Ghabcheloo (2022) GPU-Accelerated Policy Optimization via Batch Automatic Differentiation of Gaussian Processes for Real-World Control. In Proceedings of the International Conference on Robotics and Automation, IEEE, ICRA 2022, Philadelphia, US, 23-27 May 2022. https://doi.org/10.1109/ICRA46639.2022.9811876
Conferences
- 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Kyoto, Japan | 23-27 October 2022
Nonlinear Model Learning for Compensation and Feedforward Control of Real-World Hydraulic Actuators Using Gaussian Processes. Presentation by Reza Taheri - International Conference on Robotics and Automation, IEEE (ICRA 2022)
Philadelphia, US | 23-27 May 2022
GPU-Accelerated Policy Optimization via Batch Automatic Differentiation of Gaussian Processes for Real-World Control. Presentation by Reza Taheri - 2nd Annual Conference on Learning for Dynamics and Control (L4DC 2020)
- 3rd Annual Conference on Learning for Dynamics and Control (L4DC 2021)
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