Aerospace Controls Laboratory

Ali-akbar Ahga-mohammadi


aliagha [at] mit [dot] edu


  • Ph.D. in Computer Engineering, Texas A&M University, 2013
  • M.S. in Electrical Engineering (Control Systems), K.N. Toosi OofTech, 2008
  • B.S. in Electrical Engineering (Control Systems), Tabriz University, 2005

Research Interests

  • Planning and Conrol Under Uncertainty
  • Decision Making and Stochastic Control in Information Space
  • Robotics and CyberPhysical Systems
  • Estimation and Filtering Theory


Lidar-Inertial Observability-Aware Navigator
Andrea Tagliabue, Jesus Tordesillas Torres, Xiaoyi (Jeremy) Cai, Ali-akbar Ahga-mohammadi, 2020

This work presents the Lidar-Inertial Observability-Aware Navigator used at the DARPA Subt. challenge.

Decentralized Control of Multi-Robot Partially Observable Markov Decision Processes using Belief Space Macro-actions
Shayegan Omidshafiei, Ali-akbar Ahga-mohammadi, Christopher Amato, Shih-Yuan Liu, Miao Liu, 2014

This work extends the Dec-POMDP model to the Decentralized Partially Observable Semi-Markov Decision Process (Dec-POSMDP) to take advantage of high-level representations that are natural for multi-robot problems and to facilitate scalable solutions to large discrete and continuous problems.

Measurable Augmented Reality for Prototyping Cyber-Physical Systems (MAR-CPS)
Shayegan Omidshafiei, Ali-akbar Ahga-mohammadi, Steven Chen, N. Kemal Ure, 2014

We propose a platform designed to transform indoor laboratories into controlled simulations of outdoor environments.