Publications
Theses:
[Ph.D] Convex Approximation of Chance Constrained Problems: Application in Systems and Control.
[MS] Neural Adaptive Nonlinear Model Predictive Control for Redundant Robotic Manipulators.
[BS] Neural and Fuzzy Controller Design Using Evolutionary Algorithms.
Papers: [Chronological Order] [Categorical Order]
[64] Ashkan Jasour, G. Daddi, M. Endo, T. S. Vaquero, M. Paton, M. P. Strub, S. Corpino, M. Ingham, M. Ono, and R. Thaker, “Risk-aware Integrated Task and Motion Planning for Versatile Snake Robots under Localization Failures”, IEEE International Conference on Robotics & Automation (2025).
[63] Jared Miller, Matteo Tacchi, Mario Sznaier, and Ashkan Jasour. “Convex Computation ofValue-at-Risk Bounds for Stochastic Processes”. In: IEEE Transactions on Automatic Control (2024).
[62] Sangli Teng, Ashkan Jasour, Ram Vasudevan, and Maani Ghaffari. “Convex geometric motionplanning of multi-body systems on lie groups via variational integrators and sparse momentrelaxation”. In: The International Journal of Robotics Research (2024).
[61] TS Vaquero, G Daddi, R Thakker, M Paton, Ashkan Jasour, MP Strub, RM Swan, R Royce,M Gildner, P Tosi, et al. “EELS: Autonomous snake-like robot with task and motion planningcapabilities for ice world exploration”. In: Science Robotics 9.88 (2024).
[60] Masahiro Ono, Rohan Thakker, Nikola Georgiev, Peter Gavrilov, Avak Archanian, Tomas Drevinskas,Guglielmo Daddi, Michael Paton, Hovhannes Melikyan, Torkom Pailevanian, Ashkan Jasour, et al.“To Boldly Go Where No Robots Have Gone Before–Part 1: EELS Robot to Spearhead a NewOne-Shot Exploration Paradigm with in-situ Adaptation”. In: AIAA Scitech 2024 Forum. 2024,p. 1746.
[59] Sangli Teng, Harry Zhang, David Jin, Ashkan Jasour, Maani Ghaffari, and Luca Carlone. “GMKF:Generalized Moment Kalman Filter for Polynomial Systems with Arbitrary Noise”. In: arXiv preprintarXiv:2403.04712 (2024).
[58] Anderson, T Brown, M Cacan, G Kubiak, Ashkan Jasour, and N Rothenberger. “Lessons fromIngenuity’s Climb up Jezero Crater Delta”. In: IEEE Aerospace Conference (2024)
[57] Matthew P Golombek, Nathan R Williams, M Cacan, Ashkan Jasour, Larry S Crumpler, J Bapst,Steven F Sholes, Gwénaël Caravaca, and J Anderson. “Mars Helicopter, Ingenuity: Third YearExtended Mission Operations and Results”. In: 55th Lunar and Planetary Science Conference. 2024,p. 2594.
[56] Matthew P Golombek, Nathan R Williams, M Cacan, H andAshkan Jasour Grip, J Maki,Larry S Crumpler, R Sullivan, J Bapst, Steven F Sholes, Gwénaël Caravaca, and J Anderson. “MarsHelicopter, Ingenuity Mission”. In: Tenth International Conference on Mars, LPI Contrib 3007 3411.2024.
[55] Ashkan Jasour, Weiqiao Han, and Brian Williams. “Convex Risk Bounded Continuous-TimeTrajectory Planning and Tube Design in Uncertain Nonconvex Environments”. In: The InternationalJournal of Robotics Research (IJRR) (2023).
[54] Charles Dawson, Ashkan Jasour, Andreas Hofmann, and Brian Williams. “Chance-ConstrainedTrajectory Optimization for High-DOF Robots in Uncertain Environments”. In: arXiv preprintarXiv:2302.00122 (2023).
[53] Raymond Francis, Federico Rossi,Tiago Stegun Vaquero, Vandi Verma, Dan Allard, Rashied Amini, Anthony Barrett, MathieuChoukroun, Scott Davidoff, Nihal Dhamani, Mark Hofstadter, Bennett Huffmann, Michel Ingham, Ashkan Jasour,Marijke Jorritsma, Ellen Van Wyk, and Gregg Rabideau. “Operating Deep Space AutonomousSpacecraft: Ground Processes and Tools for Operability and Trust Rebecca Castano*, 17th International Conference on Space Operations, (2023).
[52] Weiqiao Han, Ashkan Jasour, and Brian Williams. “Non-Gaussian Uncertainty Minimization BasedControl of Stochastic Nonlinear Robotic Systems”. In: The 2023 IEEE/RSJ International Conferenceon Intelligent Robots and Systems (IROS 2023). arXiv preprint arXiv:2303.01628. 2023.
[51] Weiqiao Han, Ashkan Jasour, and Brian Williams. “Real-Time Tube-Based Non-Gaussian RiskBounded Motion Planning for Stochastic Nonlinear Systems in Uncertain Environments via MotionPrimitives”. In: The 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS 2023). arXiv preprint arXiv:2303.01631. 2023.
[50] Jared Miller, Matteo Tacchi, Mario Sznaier, and Ashkan Jasour. “Peak Value-at-Risk Estimationfor Stochastic Differential Equations using Occupation Measures”. In: arXiv preprintarXiv:2303.16064 (2023).
[49] M Ono, M L Cable, L J Spilker, T Drevinskas, J Weber, M Malaska, A S Gardner, E Ambrose,A Archanian, A Barchowsky, B Kyle, B Joseph, C Matthew, C Kalind, C Mark, D Guglielmo,D Sierra, d l Reyes Baylor, D Hendrik, E Rachel, G Peter, G Nikola, G Matthew, G Austen,J H Benjamin, H Tristan, Ingham M, J Abhinandan, J Levi, Ashkan Jasour, et al. “EnablingOcean Access with EELS”. In: Fall Meeting 2023. AGU. 2023.
[48] Federico Rossi, Dan A Allard, Rashied Amini, Tiago Stegun Vaquero, Nihal N Dhamani,Mathieu Choukroun, Vandi Verma, Marijke Jorristma, Scott Davidoff, Raymond Francis,Ellen Van Wyk, Ashkan Jasour, Mark Hofstadter, Bennett W Huffman, Anthony C Barrett,Michel D Ingham, and Rebecca Castano. “Workflows. User Interfaces, and Algorithms for Operationsof Autonomous Spacecraft”. In: 2023 IEEE Aerospace Conference. IEEE. 2023, pp. 1–17.
[47] Yutaka Shimizu, Ashkan Jasour, Maani Ghaffari, Kato, and Shinpei. “Moment-based KalmanFilter: Nonlinear Kalman Filtering with Exact Moment Propagation”. In: IEEE InternationalConference on Robotics and Automation (ICRA), 2023.
[46] Sangli Teng, Ashkan Jasour, Ram Vasudevan, and Maani Ghaffari. “Convex Geometric MotionPlanning on Lie Groups via Moment Relaxation”. In: Robotics: Science and Systems (RSS), Best Paper Award Finalists, 2023.
[45] Tiago S. Vaquero, Guglielmo Daddi, Rohan Thakker, Mike Paton, Ashkan Jasour, Mitch Ingham,and Hiro Ono. “Autonomous Task and Motion Planning for Ice Worlds Exploration”. In:International Workshop on Planning & Scheduling for Space (IWPSS 2023).
[44] R Castano, T Vaquero, F Rossi, V Verma, M Choukroun, D Allard, R Amini, A Barrett,J Castillo-Rogez, N Dhamani, R. Francis, M. Hofstadter, M. Ingham, Ashkan Jasour, M. Jorritsma,E. Van Wyk, and S. Chien. “Operations for Autonomous Spacecraft: Workflows and Tools for aNeptune Tour Case Study”. In: 53rd Lunar and Planetary Science Conference. Vol. 2678. 2022,p. 2510.
[43] Weiqiao Han*, Ashkan Jasour*, and Brian Williams. “Non-Gaussian Risk Bounded TrajectoryOptimization for Stochastic Nonlinear Systems in Uncertain Environments”. In: In: IEEEInternational Conference on Robotics and Automation (ICRA), Outstanding Planning PaperAward Winner (2022).
[42] Xin Huang, Guy Rosman, Ashkan Jasour, Stephen G McGill, John J Leonard, andBrian C Williams. “TIP: Task-informed motion prediction for intelligent vehicles”. In: 2022IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE. 2022,pp. 11432–11439.
[41] Xin Huang, Guy Rosman, Igor Gilitschenski, Ashkan Jasour, Stephen G McGill, John J Leonard,and Brian C Williams. “HYPER: Learned hybrid trajectory prediction via factored inference andadaptive sampling”. In: 2022 International Conference on Robotics and Automation (ICRA). IEEE.2022, pp. 2906–2912.
[40] M Ono, M L Cable, L J Spilker, T Drevinskas, J Weber, M Malaska, A S Gardner, E Ambrose,A Archanian, A Barchowsky, B Kyle, B Joseph, C Matthew, C Kalind, C Mark, D Guglielmo,D Sierra, d l Reyes Baylor, D Hendrik, E Rachel, G Peter, G Nikola, G Matthew, G Austen,J H Benjamin, H Tristan, Ingham M, J Abhinandan, J Levi, Ashkan Jasour, et al. “Enabling accessto the Enceladus Ocean through the vents with the EELS robot”. In: Fall Meeting 2022. AGU. 2022.
[39] Masahiro Ono, Rohan Thakker, Mitch Ingham, Kalind Carpenter, Joseph Bowkett, Mark Chodas,Jeff Delaune, Rachel Etheredge, Ashkan Jasour, Jay Jasper, et al. “Autonomy for Enceladus VentExploration”. In: Astrobiology Science Conference (AbSciCon).https://agu.confex.com/agu/abscicon21/prelim.cgi/Paper/1027972. 2022.
[38] Jingwei Song, Mitesh Patel, Ashkan Jasour, and Maani Ghaffari. “A closed-form uncertaintypropagation in non-rigid structure from motion”. In: IEEE Robotics and Automation Letters 7.3(2022), pp. 6479–6486.
[37] Tiago S Vaquero, Federico Rossi, Rebecca Castano, Ashkan Jasour, Ellen van Wyk,Nihal Dhamani, Anthony Barrett, Bennett Huffman, and Marijke Jorritsma. “A KnowledgeEngineering Framework for Mission Operations of Increasingly Autonomous Spacecraft”. In:Workshop on Knowledge Engineering for Planning and scheduling (KEPS), International Conferenceon Automated Planning and Scheduling (ICAPS). 2022.
[36] Ashkan Jasour, Weiqiao Han, and Brian Williams. “Convex Risk Bounded Continuous-TimeTrajectory Planning in Uncertain Nonconvex Environments”. In: Robotics: Science and Systems(RSS) 2021. http://www.roboticsproceedings.org/rss17/p069.pdf. 2021.
[35] Ashkan Jasour, Weiqiao Han, and Brian Williams. “Real-Time Risk-Bounded Tube-BasedTrajectory Safety Verification”. In: The 60th IEEE conference on Decision and Control.https://ieeexplore.ieee.org/document/9683600. 2021.
[34] Ashkan Jasour, Xin Huang, Allen Wang, and Brian C. William. “Fast nonlinear risk assessment forautonomous vehicles using learned conditional probabilistic models of agent futures”. In: AutonomousRobots (2021).
[33] Ashkan Jasour, Allen Wang, and Brian Williams. “Moment-Based Exact Uncertainty PropagationThrough Nonlinear Stochastic Autonomous Systems”. In: arxiv.org/abs/2101.12490 (2021).
[32] Xin Huang, Meng Feng, Ashkan Jasour, Guy Rosman, and Brian Williams. “Risk ConditionedNeural Motion Planning”. In: IEEE/RSJ International Conference on Intelligent Robots and Systems.https://arxiv.org/abs/2108.01851. 2021.
[31] Xin Huang, Guy Rosman, Ashkan Jasour, Stephen G McGill, John J Leonard, andBrian C Williams. “TIP: Taskinformed motion prediction for intelligent systems”. In: arXiv preprintarXiv:2110.08750 (2021).
[30] Eric Timmons, Marlyse Reeves, Benjamin Ayton, Williams Brian, Michel Ingham, J.C Castillo-Rogez,William Seto, Klaus Havelund, Ashkan Jasour, Benjamin Donitz, et al. “Information-Driven andRisk-Bounded Autonomy for Scientist Avatars”. In: ASCEND 2021.
[29] Charles Dawson, Ashkan Jasour, Andreas Hofmann, and Brian Williams. “Provably Safe TrajectoryOptimization in the Presence of Uncertain Convex Obstacles”. In: IEEE/RSJ InternationalConference on Intelligent Robots and Systems (IROS), 2020.
[28] A Wang, X Huang, Ashkan Jasour, and Brian Williams. “Fast Risk Assessment for AutonomousVehicles Using Learned Models of Agent Futures”. In: Robotics: Science and Systems (RSS).http://www.roboticsproceedings.org/rss16/p089.pdf. 2020.
[27] Allen Wang, Ashkan Jasour, and Brian Williams. “Moment State Dynamical Systems for NonlinearChance-Constrained Motion Planning”. In: Technical Report. 2020, arxiv–org.
[26] Allen Wang, Ashkan Jasour, and Brian C Williams. “Non-gaussian chance-constrained trajectoryplanning for autonomous vehicles under agent uncertainty”. In: IEEE Robotics and AutomationLetters 5.4 (2020), pp. 6041–6048.
[25] Ashkan Jasour. “Duality of SOS and Moment Based SDPs”. In: Course Notes for MIT 16.S498,rarnop.mit.edu (2019).
[24] Ashkan Jasour. “Risk Aware and Robust Nonlinear Planning (rarnop)”. In: Course Notes for MIT16.S498, rarnop.mit.edu (2019).
[23] Ashkan Jasour and Brian Williams. “Risk Contours Map for Risk Bounded Motion Planning underPerception Uncertainties”. In: Robotics: Science and Systems (RSS).http://132.230.105.186:81/papers/0173_FI.pdf. 2019.
[22] Ashkan Jasour and Brian C Williams. “Sequential Chance Optimization For Flow-Tube BasedControl Of Probabilistic Nonlinear Systems”. In: 2019 IEEE 58th Conference on Decision andControl (CDC). IEEE. 2019, pp. 5392–5399.
[21] Siyu Dai, Shawn Schaffert, Ashkan Jasour, Andreas Hofmann, and Brian Williams. “ChanceConstrained Motion Planning for High-Dimensional Robots”. In: IEEE International Conference onRobotics and Automation (ICRA). 2019.
[20] Majid Khonji, Ashkan Jasour, and Brian C Williams. “Approximability of Constant-horizonConstrained POMDP.” In: IJCAI. 2019, pp. 5583–5590.
[19] Ashkan Jasour, Andreas Hofmann, and Brian C Williams. “Moment-Sum-Of-Squares Approach ForFast Risk Estimation In Uncertain Environments”. In: 2018 IEEE Conference on Decision andControl (CDC). 2018.
[18] Xin Huang, Ashkan Jasour, Matthew Deyo, Andreas Hofmann, and Brian C Williams. “Hybridrisk-aware conditional planning with applications in autonomous vehicles”. In: 2018 IEEE Conferenceon Decision and Control (CDC). IEEE. 2018, pp. 3608–3614.
[17] S. U. Lee, Ashkan Jasour, A. Hofmann, and B. C. Williams. “Robust Human Activity MonitoringUsing Qualitative Spatial Representation and Reasoning”. In: The 28th International Conference onAutomated Planning and Scheduling (ICAPS ) Workshop, 2018. 2018, http–icaps18.
[16] Ashkan Jasour. “Convex Approximation of Chance Constrained Optimization Problems:Application in System and Control”. PhD thesis. The Pennsylvania State University, 2017.
[15] Ashkan, Jasour and Lagoa C. “Convex constrained semialgebraic vol-ume optimization:Application in systems and control”. In: arXiv:1701.08910 (2017).
[14] Ashkan Jasour and Constantino Lagoa. “Convex Chance Constrained Model Predictive Control”.In: Decision and Control (CDC), 2016 IEEE 55th. IEEE. 2016.
[13] Ashkan Jasour, Necdet S Aybat, and Constantino M Lagoa. “Semidefinite programming for chanceconstrained optimization over semialgebraic sets”. In: SIAM Journal on Optimization 25.3 (2015),pp. 1411–1440.
[12] Ashkan Jasour and Mohammad Farrokhi. “Adaptive neuro-predictive control for redundant robotmanipulators in presence of static and dynamic obstacles: A Lyapunov-based approach”. In:International Journal of Adaptive Control and Signal Processing 28.3-5 (2014), pp. 386–411.
[11] Ashkan Jasour and Constantino Lagoa. “Reconstruction of support of a measure from itsmoments”. In: 53rd IEEE Conference on Decision and Control. IEEE. 2014, pp. 1911–1916.
[10] Ashkan Jasour and C Lagoa. “Convex Relaxations of a Probabilistically Robust Control DesignProblem”. In: Decision and Control (CDC), 2013 IEEE 52st Annual Conference on. IEEE. 2013
[9] Ashkan Jasour and C Lagoa. “Semidefinite relaxations of chance constrained algebraic problems.”In: Decision and Control (CDC), 2012 IEEE 51st Annual Conference on. IEEE. 2012, pp. 2527–2532.
[8] Ashkan Jasour and Mohammad Farrokhi. “Control of redundant manipulators in non-stationaryenvironments using neural networks and model predictive control”. In: IFAC Workshop on IntelligentControl Systems. Vol. 8. http://www.ifac-papersonline.net/Detailed/43588.html. 2010, pp. 8–13.
[7] Ashkan Jasour and Mohammad Farrokhi. “Fuzzy improved adaptive neuro-NMPC for online pathtracking and obstacle avoidance of redundant robotic manipulators”. In: International Journal ofAutomation and Control 4.2 (2010), pp. 177–200.
[6] Ashkan Jasour and Mohammad Farrokhi. “Adaptive neuro-NMPC control of redundant roboticmanipulators for path tracking and obstacle avoidance”. In: Control Conference (ECC), 2009European. IEEE. 2009, pp. 2181–2186.
[5] Ashkan Jasour and Mohammad Farrokhi. “Obstacle avoidance and grasping moving objects innon-stationary environments for redundant robotic manipulators using NMPC”. In: 7 7 IranianConference on ElectricalEngineering (ICEE 2009). 2009.
[4] Ashkan Jasour and Mohammad Farrokhi. “Path tracking and obstacle avoidance for redundantrobotic arms using fuzzy NMPC”. In: 2009 American Control Conference. IEEE. 2009,pp. 1353–1358.
[3] Ashkan Jasour, E Atashpaz-Gargari, and Caro Lucas. “Vehicle fuzzy controller design usingimperialist competitive algorithm”. In: Second first Iranian joint congress on fuzzy and intelligentsystems, Tehran, Iran. 2008, pp. 1–6.
[2] Ashkan Jasour, Mostafa Khazraei, and Abdolreza Rahmati. “Design of a MIMO controller for amultimodul Dc-Dc converter based on Particle Swarm Optimized neural network”. In: 2008 IEEE2nd International Power and Energy Conference. IEEE. 2008, pp. 224–230.
[1] Ashkan Jasour, A Rahmati, A Abrishamifar, et al. “Improved large signal performance of linearcontrolled input-series and output-parallel dc-dc converter using genetic algorithm optimization”. In:2008 11th International Conference on Optimization of Electrical and Electronic Equipment. IEEE.2008, pp. 31–36.
