Contact Information


Education & Research Experiences

Research Interests

Selected Publications

(For the complete list of publications, please visit my Homepage)
  1. A. Agha-mohammadi, Suman Chakravorty, Nancy Amato, "FIRM: Sampling-based Feedback Motion Planning Under Motion Uncertainty and Imperfect Measurements", International Journal of Robotics Research, 33(2):268-304, February 2014. [pdf]

  2. A. Agha-mohammadi, Saurav Agarwal, Aditya Mahadevan, Suman Chakravorty, Daniel Tomkins, Jory Denny, Nancy Amato, "Robust Online Belief Space Planning in Changing Environments: Application to Physical Mobile Robots," In Proc. IEEE Int. Conf. Robot. Autom. (ICRA), Hong Kong, China, May 2014. [pdf]

  3. A. Agha-mohammadi, Sandip Kumar, Suman Chakravorty, "Motion Planning under Uncertainty", Book Chapter, J. Valasek (Ed.), Advances in Intelligent and Autonomous Aerospace Systems, Progress in Astronautics and Aeronautics, American Institute of Aeronautics and Astronautics (AIAA), Reston, VA, 2012.

  4. A. Agha-mohammadi, Suman Chakravorty, Nancy Amato, "Sampling-based Stochastic Control with Constraints: A Unified Approach in State and Information-state Spaces", in American Control Conference (ACC), invited paper, Stochastic Models, Control and Algorithms in Robotics session, Washington, DC, June 2013.

  5. A. Agha-mohammadi, Suman Chakravorty, Nancy M. Amato, "Sampling-based Nonholonomic Motion Planning in Belief Space via Dynamic Feedback Linearization-based FIRM", In Proc. IEEE Int. Conf. Intel. Rob. Syst. (IROS), Vilamoura, Portugal, Oct 2012.

  6. A. Agha-mohammadi, Suman Chakravorty, Nancy M. Amato, "On the Probabilistic Completeness of the Sampling-based Feedback Motion Planners in Belief Space," In Proc. IEEE Int. Conf. Robot. Autom. (ICRA), Saint Paul, Minnesota, May 2012.

  7. A. Agha-mohammadi, Suman Chakravorty, Nancy M. Amato, "FIRM: Feedback Controller-Based Information-State Roadmap, A Framework for Motion Planning Under Uncertainty," In Proc. IEEE Int. Conf. Intel. Rob. Syst. (IROS), San Francisco, CA, Sep 2011.

  8. A. Agha-mohammadi, Dezhen Song, "Robust Recognition of Planar Mirrored Walls Using a Single View", IEEE International Conference on Robotics and Automation (ICRA), Shanghai, China, 2011. [pdf]