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Publications

Google Scholar


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.

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Papers:  [Chronological Order]  [Categorical Order]

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Publication Categories:

1) Non-Gaussian Nonlinear Stochastic Systems,

2) Neural Network-based Modeling, Learning, and Control,

3) Autonomous Systems and Robotics

Category 1: Non-Gaussian Nonlinear Stochastic Systems - Algorithms for Risk-Aware Planning, Optimization, Control, and Estimation Under Uncertainty.

 

  • Keywords: Nonlinear Non-Gaussian POMDPs, Chance-Constrained Problems, Measure and Moment Theory, Convex Optimization, Higher-Order Moments, Pushforward Measures and Uncertainty Propagation, Stochastic Differential and Difference Equations, Duality Between Polynomials and Moments, Duality Between Continuous Functions and Measures, Conditional Value-at-Risk (CVaR).

  • Miller, M. Tacchi, M. Sznaier, and Ashkan Jasour, “Convex computation of value-at-risk bounds for stochastic processes,” IEEE Transactions on Automatic Control, 2024.
     

  • S. Teng, H. Zhang, D. Jin, Ashkan Jasour, M. Ghaffari, and L. Carlone, “GMKF: Generalized moment Kalman filter for polynomial systems with arbitrary noise,” arXiv preprint arXiv:2403.04712, 2024.
     

  • Ashkan Jasour, W. Han, and B. Williams, “Convex risk bounded continuous-time trajectory planning and tube design in uncertain nonconvex environments,” The International Journal of Robotics Research, 2023.
     

  • W. Han, Ashkan Jasour, and B. Williams, “Non-Gaussian uncertainty minimization-based control of stochastic nonlinear robotic systems,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023.
     

  • W. Han, Ashkan Jasour, and B. Williams, “Real-time tube-based non-Gaussian risk bounded motion planning for stochastic nonlinear systems in uncertain environments via motion primitives,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023.
     

  • J. Miller, M. Tacchi, M. Sznaier, and Ashkan Jasour, “Peak value-at-risk estimation for stochastic differential equations using occupation measures,” IEEE Conference on Decision and Control (CDC), 2023.
     

  • Y. Shimizu, Ashkan Jasour, M. Ghaffari, K. Kato, and S. Shinpei, “Moment-based Kalman filter: Nonlinear Kalman filtering with exact moment propagation,” IEEE International Conference on Robotics and Automation (ICRA), 2023.
     

  • W. Han, Ashkan Jasour, and B. Williams, “Non-Gaussian risk bounded trajectory optimization for stochastic nonlinear systems in uncertain environments,” IEEE International Conference on Robotics and Automation (ICRA), Outstanding Planning Paper Award Winner, 2022.
     

  • J. Song, M. Patel, Ashkan Jasour, and M. Ghaffari, “A closed-form uncertainty propagation in non-rigid structure from motion,” IEEE Robotics and Automation Letters, vol. 7, no. 3, pp. 6479–6486, 2022.
     

  • Ashkan Jasour, W. Han, and B. Williams, “Convex risk bounded continuous-time trajectory planning in uncertain nonconvex environments,” Robotics: Science and Systems (RSS), 2021.
     

  • Ashkan Jasour, W. Han, and B. Williams, “Real-time risk-bounded tube-based trajectory safety verification,” IEEE Conference on Decision and Control (CDC), 2021.
     

  • Ashkan Jasour, A. Wang, and B. Williams, “Moment-based exact uncertainty propagation through nonlinear stochastic autonomous systems,” arXiv preprint arXiv:2101.12490, 2021.
     

  • A. Wang, Ashkan Jasour, and B. Williams, “Moment state dynamical systems for nonlinear chance-constrained motion planning,” Technical Report, arXiv, 2020.
     

  • A. Wang, Ashkan Jasour, and B. C. Williams, “Non-Gaussian chance-constrained trajectory planning for autonomous vehicles under agent uncertainty,” IEEE Robotics and Automation Letters, vol. 5, no. 4, pp. 6041–6048, 2020.
     

  • Ashkan Jasour and B. Williams, “Risk contours map for risk bounded motion planning under perception uncertainties,” Robotics: Science and Systems (RSS), 2019.
     

  • Ashkan Jasour and B. C. Williams, “Sequential chance optimization for flow-tube based control of probabilistic nonlinear systems,” IEEE Conference on Decision and Control (CDC), 2019.
     

  • M. Khonji, Ashkan Jasour, and B. C. Williams, “Approximability of constant-horizon constrained POMDP,” International Joint Conference on Artificial Intelligence (IJCAI), pp. 5583–5590, 2019.
     

  • Ashkan Jasour, A. Hofmann, and B. C. Williams, “Moment-sum-of-squares approach for fast risk estimation in uncertain environments,” IEEE Conference on Decision and Control (CDC), 2018.
     

  • Ashkan Jasour and C. Lagoa, “Convex constrained semialgebraic volume optimization: Application in systems and control,” arXiv preprint arXiv:1701.08910, 2017.
     

  • Ashkan Jasour and C. Lagoa, “Convex chance constrained model predictive control,” IEEE Conference on Decision and Control (CDC), 2016.
     

  • Ashkan Jasour, N. S. Aybat, and C. M. Lagoa, “Semidefinite programming for chance-constrained optimization over semialgebraic sets,” SIAM Journal on Optimization, vol. 25, no. 3, pp. 1411–1440, 2015.
     

  • Ashkan Jasour and C. Lagoa, “Reconstruction of support of a measure from its moments,” IEEE Conference on Decision and Control (CDC), 2014.
     

  • Ashkan Jasour and C. Lagoa, “Convex relaxations of a probabilistically robust control design problem,” IEEE Conference on Decision and Control (CDC), 2013.
     

  • Ashkan Jasour and C. Lagoa, “Semidefinite relaxations of chance constrained algebraic problems,” IEEE Conference on Decision and Control (CDC), pp. 2527–2532, 2012.

Category 2: Neural Network-based Modeling, Learning, and Control

  • X. Huang, G. Rosman, Ashkan Jasour, S. G. McGill, J. J. Leonard, and B. C. Williams, “TIP: Task-informed motion prediction for intelligent vehicles,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 11432–11439, 2022.
     

  • X. Huang, G. Rosman, I. Gilitschenski, Ashkan Jasour, S. G. McGill, J. J. Leonard, and B. C. Williams, “HYPER: Learned hybrid trajectory prediction via factored inference and adaptive sampling,” IEEE International Conference on Robotics and Automation (ICRA), pp. 2906–2912, 2022.
     

  • Ashkan Jasour, X. Huang, A. Wang, and B. C. Williams, “Fast nonlinear risk assessment for autonomous vehicles using learned conditional probabilistic models of agent futures,” Autonomous Robots, 2021.
     

  • X. Huang, M. Feng, Ashkan Jasour, G. Rosman, and B. Williams, “Risk conditioned neural motion planning,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021.
     

  • A. Wang, X. Huang, Ashkan Jasour, and B. Williams, “Fast risk assessment for autonomous vehicles using learned models of agent futures,” Robotics: Science and Systems (RSS), 2020.
     

  • Ashkan Jasour and M. Farrokhi, “Adaptive neuro-predictive control for redundant robot manipulators in presence of static and dynamic obstacles: A Lyapunov-based approach,” International Journal of Adaptive Control and Signal Processing, vol. 28, no. 3–5, pp. 386–411, 2014.
     

  • Ashkan Jasour and M. Farrokhi, “Control of redundant manipulators in non-stationary environments using neural networks and model predictive control,” IFAC Workshop on Intelligent Control Systems, vol. 8, pp. 8–13, 2010.
     

  • Ashkan Jasour and M. Farrokhi, “Fuzzy improved adaptive neuro-NMPC for online path tracking and obstacle avoidance of redundant robotic manipulators,” International Journal of Automation and Control, vol. 4, no. 2, pp. 177–200, 2010.
     

  • Ashkan Jasour and M. Farrokhi, “Adaptive neuro-NMPC control of redundant robotic manipulators for path tracking and obstacle avoidance,” European Control Conference (ECC), pp. 2181–2186, 2009.
     

  • Ashkan Jasour and M. Farrokhi, “Obstacle avoidance and grasping moving objects in non-stationary environments for redundant robotic manipulators using NMPC,” Iranian Conference on Electrical Engineering (ICEE), 2009.
     

  • Ashkan Jasour and M. Farrokhi, “Path tracking and obstacle avoidance for redundant robotic arms using fuzzy NMPC,” American Control Conference (ACC), pp. 1353–1358, 2009.
     

  • Ashkan Jasour, E. Atashpaz-Gargari, and C. Lucas, “Vehicle fuzzy controller design using imperialist competitive algorithm,” Iranian Joint Congress on Fuzzy and Intelligent Systems, pp. 1–6, 2008.
     

  • Ashkan Jasour, M. Khazraei, and A. Rahmati, “Design of a MIMO controller for a multimodule DC-DC converter based on particle swarm optimized neural network,” IEEE International Power and Energy Conference, pp. 224–230, 2008.
     

  • Ashkan Jasour, A. Rahmati, A. Abrishamifar, et al., “Improved large signal performance of linear controlled input-series and output-parallel DC-DC converter using genetic algorithm optimization,” IEEE International Conference on Optimization of Electrical and Electronic Equipment, pp. 31–36, 2008.

Category 3: Autonomous Systems and Robotics

  • 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 and Automation (ICRA), 2025.
     

  • S. Teng, Ashkan Jasour, R. Vasudevan, and M. Ghaffari, “Convex geometric motion planning of multi-body systems on Lie groups via variational integrators and sparse moment relaxation,” The International Journal of Robotics Research, 2024.
     

  • T. S. Vaquero, G. Daddi, R. Thakker, M. Paton, Ashkan Jasour, M. P. Strub, R. M. Swan, R. Royce, M. Gildner, P. Tosi, et al., “EELS: Autonomous snake-like robot with task and motion planning capabilities for ice world exploration,” Science Robotics, vol. 9, no. 88, 2024.
     

  • M. Ono, R. Thakker, N. Georgiev, P. Gavrilov, A. Archanian, T. Drevinskas, G. Daddi, M. Paton, H. Melikyan, T. Pailevanian, Ashkan Jasour, et al., “To boldly go where no robots have gone before–Part 1: EELS robot to spearhead a new one-shot exploration paradigm with in-situ adaptation,” AIAA SciTech Forum, p. 1746, 2024.
     

  • T. Anderson, M. Cacan, G. Kubiak, Ashkan Jasour, and N. Rothenberger, “Lessons from Ingenuity’s climb up Jezero Crater Delta,” IEEE Aerospace Conference, 2024.
     

  • M. P. Golombek, N. R. Williams, M. Cacan, Ashkan Jasour, L. S. Crumpler, J. Bapst, S. F. Sholes, G. Caravaca, and J. Anderson, “Mars Helicopter, Ingenuity: Third year extended mission operations and results,” 55th Lunar and Planetary Science Conference, p. 2594, 2024.
     

  • M. P. Golombek, N. R. Williams, M. Cacan, H. Grip, Ashkan Jasour, J. Maki, L. S. Crumpler, R. Sullivan, J. Bapst, S. F. Sholes, G. Caravaca, and J. Anderson, “Mars Helicopter, Ingenuity Mission,” Tenth International Conference on Mars, LPI Contrib 3007, 2024.
     

  • C. Dawson, Ashkan Jasour, A. Hofmann, and B. Williams, “Chance-constrained trajectory optimization for high-DOF robots in uncertain environments,” arXiv preprint arXiv:2302.00122, 2023.
     

  • S. Teng, Ashkan Jasour, R. Vasudevan, and M. Ghaffari, “Convex geometric motion planning on Lie groups via moment relaxation,” Robotics: Science and Systems (RSS), Best Paper Award Finalist, 2023.
     

  • 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. R. Baylor, D. Hendrik, E. Rachel, G. Peter, G. Nikola, G. Matthew, G. Austen, J. H. Benjamin, H. Tristan, M. Ingham, J. Abhinandan, J. Levi, Ashkan Jasour, et al., “Enabling ocean access with EELS,” AGU Fall Meeting, 2023.
     

  • T. S. Vaquero, G. Daddi, R. Thakker, M. Paton, Ashkan Jasour, M. Ingham, and H. Ono, “Autonomous task and motion planning for ice worlds exploration,” International Workshop on Planning & Scheduling for Space (IWPSS), 2023.
     

  • R. Francis, F. Rossi, T. S. Vaquero, V. Verma, D. Allard, R. Amini, A. Barrett, M. Choukroun, S. Davidoff, N. Dhamani, M. Hofstadter, B. Huffman, M. Ingham, Ashkan Jasour, M. Jorritsma, E. Van Wyk, and G. Rabideau, “Operating deep space autonomous spacecraft: Ground processes and tools for operability and trust,” 17th International Conference on Space Operations, 2023.
     

  • F. Rossi, D. A. Allard, R. Amini, T. S. Vaquero, N. N. Dhamani, M. Choukroun, V. Verma, M. Jorritsma, S. Davidoff, R. Francis, E. Van Wyk, Ashkan Jasour, M. Hofstadter, B. W. Huffman, A. C. Barrett, M. D. Ingham, and R. Castano, “Workflows, user interfaces, and algorithms for operations of autonomous spacecraft,” IEEE Aerospace Conference, pp. 1–17, 2023.
     

  • 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. R. Baylor, D. Hendrik, E. Rachel, G. Peter, G. Nikola, G. Matthew, G. Austen, J. H. Benjamin, H. Tristan, M. Ingham, J. Abhinandan, J. Levi, Ashkan Jasour, et al., “Enabling access to the Enceladus Ocean through the vents with the EELS robot,” AGU Fall Meeting, 2022.
     

  • M. Ono, R. Thakker, M. Ingham, K. Carpenter, J. Bowkett, M. Chodas, J. Delaune, R. Etheredge, Ashkan Jasour, J. Jasper, et al., “Autonomy for Enceladus vent exploration,” Astrobiology Science Conference (AbSciCon), 2022.
     

  • R. Castano, T. S. 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 a Neptune tour case study,” 53rd Lunar and Planetary Science Conference, vol. 2678, p. 2510, 2022.
     

  • T. S. Vaquero, F. Rossi, R. Castano, Ashkan Jasour, E. Van Wyk, N. Dhamani, A. Barrett, B. Huffman, and M. Jorritsma, “A knowledge engineering framework for mission operations of increasingly autonomous spacecraft,” Workshop on Knowledge Engineering for Planning and Scheduling (KEPS), ICAPS, 2022.
     

  • E. Timmons, M. Reeves, B. Ayton, B. Williams, M. Ingham, J. C. Castillo-Rogez, W. Seto, K. Havelund, Ashkan Jasour, B. Donitz, et al., “Information-driven and risk-bounded autonomy for scientist avatars,” Accelerating Space Commerce, Exploration, and New Discovery (ASCEND), 2021.
     

  • C. Dawson, Ashkan Jasour, A. Hofmann, and B. Williams, “Provably safe trajectory optimization in the presence of uncertain convex obstacles,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020.
     

  • S. Dai, S. Schaffert, Ashkan Jasour, A. Hofmann, and B. Williams, “Chance-constrained motion planning for high-dimensional robots,” IEEE International Conference on Robotics and Automation (ICRA), 2019.
     

  • S. U. Lee, Ashkan Jasour, A. Hofmann, and B. C. Williams, “Robust human activity monitoring using qualitative spatial representation and reasoning,” ICAPS Workshop, 2018.
     

  • X. Huang, Ashkan Jasour, M. Deyo, A. Hofmann, and B. C. Williams, “Hybrid risk-aware conditional planning with applications in autonomous vehicles,” IEEE Conference on Decision and Control (CDC), pp. 3608–3614, 2018.

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