Path tracking and obstacle avoidance for redundant robotic arms using fuzzy NMPC. - Ashkan M. Jasour; Mohammad Farrokhi (ACC, 2009)

Adaptive neuro-NMPC control of redundant robotic manipulators for path tracking and obstacle avoidance. - Ashkan M. Z. Jasour; Mohammad Farrokhi (ECC, 2009)

Fuzzy improved adaptive neuro-NMPC for online path tracking and obstacle avoidance of redundant robotic manipulators. - Ashkan M. Z. Jasour; Mohammad Farrokhi (Int. J. Autom. Control., 2010)

Semidefinite relaxations of chance constrained algebraic problems. - Ashkan M. Jasour; Constantino Lagoa (CDC, 2012)

Convex relaxations of a probabilistically robust control design problem. - Ashkan M. Jasour; Constantino Lagoa (CDC, 2013)

Reconstruction of support of a measure from its moments. - Ashkan M. Jasour; Constantino Lagoa (CDC, 2014)

Semidefinite Programming For Chance Constrained Optimization Over Semialgebraic Sets. - Ashkan M. Jasour; Necdet S. Aybat; Constantino M. Lagoa (SIAM J. Optim., 2015)

Convex Chance Constrained Model Predictive Control. - Ashkan Jasour; Constantino M. Lagoa (CDC, 2016)

Hybrid Risk-Aware Conditional Planning with Applications in Autonomous Vehicles. - Xin Huang 018; Ashkan Jasour; Matthew Deyo; Andreas G. Hofmann; Brian C. Williams (CDC, 2018)

Moment-Sum-of-Squares Approach for Fast Risk Estimation in Uncertain Environments. - Ashkan M. Jasour; Andreas G. Hofmann; Brian C. Williams (CDC, 2018)

Sequential Chance Optimization For Flow-Tube Based Control Of Probabilistic Nonlinear Systems. - Ashkan M. Jasour; Brian C. Williams (CDC, 2019)

Chance Constrained Motion Planning for High-Dimensional Robots. - Siyu Dai; Shawn Schaffert; Ashkan Jasour; Andreas G. Hofmann; Brian Charles Williams (ICRA, 2019)

Approximability of Constant-horizon Constrained POMDP. - Majid Khonji; Ashkan Jasour; Brian C. Williams (IJCAI, 2019)

Risk Contours Map for Risk Bounded Motion Planning under Perception Uncertainties. - Ashkan M. Jasour; Brian C. Williams (Robotics: Science and Systems, 2019)

Provably Safe Trajectory Optimization in the Presence of Uncertain Convex Obstacles. - Charles Dawson 001; Ashkan Jasour; Andreas G. Hofmann; Brian Charles Williams (IROS, 2020)

Fast Risk Assessment for Autonomous Vehicles Using Learned Models of Agent Futures. - Allen Wang; Xin Huang 018; Ashkan Jasour; Brian Charles Williams (Robotics: Science and Systems, 2020)

Non-Gaussian Chance-Constrained Trajectory Planning for Autonomous Vehicles in the Presence of Uncertain Agents. - Allen Wang; Ashkan Jasour; Brian C. Williams (CoRR, 2020)

Moment State Dynamical Systems for Nonlinear Chance-Constrained Motion Planning. - Allen Wang; Ashkan Jasour; Brian C. Williams (CoRR, 2020)

Non-Gaussian Chance-Constrained Trajectory Planning for Autonomous Vehicles Under Agent Uncertainty. - Allen Wang; Ashkan Jasour; Brian C. Williams (IEEE Robotics Autom. Lett., 2020)

Real-Time Risk-Bounded Tube-Based Trajectory Safety Verification. - Ashkan Jasour; Weiqiao Han; Brian C. Williams (CDC, 2021)

Risk Conditioned Neural Motion Planning. - Xin Huang 018; Meng Feng; Ashkan Jasour; Guy Rosman; Brian C. Williams (IROS, 2021)

Convex Risk Bounded Continuous-Time Trajectory Planning in Uncertain Nonconvex Environments. - Ashkan Jasour; Weiqiao Han; Brian C. Williams (Robotics: Science and Systems, 2021)

Moment-Based Exact Uncertainty Propagation Through Nonlinear Stochastic Autonomous Systems. - Ashkan Jasour; Allen Wang; Brian C. Williams (CoRR, 2021)

TIP: Task-Informed Motion Prediction for Intelligent Systems. - Xin Huang 018; Guy Rosman; Ashkan Jasour; Stephen G. McGill; John J. Leonard; Brian C. Williams (CoRR, 2021)

Non-Gaussian Risk Bounded Trajectory Optimization for Stochastic Nonlinear Systems in Uncertain Environments. - Weiqiao Han; Ashkan Jasour; Brian C. Williams (ICRA, 2022)

HYPER: Learned Hybrid Trajectory Prediction via Factored Inference and Adaptive Sampling. - Xin Huang 018; Guy Rosman; Igor Gilitschenski; Ashkan Jasour; Stephen G. McGill; John J. Leonard; Brian C. Williams (ICRA, 2022)

TIP: Task-Informed Motion Prediction for Intelligent Vehicles. - Xin Huang 018; Guy Rosman; Ashkan Jasour; Stephen G. McGill; John J. Leonard; Brian C. Williams (IROS, 2022)

Fast nonlinear risk assessment for autonomous vehicles using learned conditional probabilistic models of agent futures. - Ashkan Jasour; Xin Huang 018; Allen Wang; Brian C. Williams (Auton. Robots, 2022)

A Closed-Form Uncertainty Propagation in Non-Rigid Structure From Motion. - Jingwei Song; Mitesh Patel; Ashkan Jasour; Maani Ghaffari (IEEE Robotics Autom. Lett., 2022)

Peak Value-at-Risk Estimation for Stochastic Differential Equations Using Occupation Measures. - Jared Miller; Matteo Tacchi 001; Mario Sznaier; Ashkan Jasour (CDC, 2023)

Moment-Based Kalman Filter: Nonlinear Kalman Filtering with Exact Moment Propagation. - Yutaka Shimizu; Ashkan Jasour; Maani Ghaffari; Shinpei Kato (ICRA, 2023)

Real-Time Tube-Based Non-Gaussian Risk Bounded Motion Planning for Stochastic Nonlinear Systems in Uncertain Environments via Motion Primitives. - Weiqiao Han; Ashkan Jasour; Brian C. Williams (IROS, 2023)

Non-Gaussian Uncertainty Minimization Based Control of Stochastic Nonlinear Robotic Systems. - Weiqiao Han; Ashkan Jasour; Brian Williams 001 (IROS, 2023)

Convex Geometric Motion Planning on Lie Groups via Moment Relaxation. - Sangli Teng; Ashkan Jasour; Ram Vasudevan; Maani Ghaffari Jadidi (Robotics: Science and Systems, 2023)

Chance-Constrained Trajectory Optimization for High-DOF Robots in Uncertain Environments. - Charles Dawson 001; Ashkan Jasour; Andreas G. Hofmann; Brian C. Williams (CoRR, 2023)

Convex risk-bounded continuous-time trajectory planning and tube design in uncertain nonconvex environments. - Ashkan Jasour; Weiqiao Han; Brian C. Williams (Int. J. Robotics Res., 2023)

GMKF: Generalized Moment Kalman Filter for Polynomial Systems with Arbitrary Noise. - Sangli Teng; Harry Zhang; David Jin; Ashkan Jasour; Maani Ghaffari; Luca Carlone (CoRR, 2024)

EELS: Autonomous snake-like robot with task and motion planning capabilities for ice world exploration. - Tiago Stegun Vaquero; Guglielmo Daddi; Rohan Thakker; Michael Paton; Ashkan Jasour; Marlin P. Strub; R. Michael Swan; Rob Royce; Matthew Gildner; L. Phillipe Tosi; Marcel Veismann; Peter V. Gavrilov; et al. (Sci. Robotics, 2024)

Risk-aware Integrated Task and Motion Planning for Versatile Snake Robots under Localization Failures. - Ashkan Jasour; Guglielmo Daddi; Masafumi Endo; Tiago Stegun Vaquero; Michael Paton; Marlin P. Strub; Sabrina Corpino; Michel D. Ingham; Masahiro Ono; Rohan Thakker (CoRR, 2025)

Max Entropy Moment Kalman Filter for Polynomial Systems with Arbitrary Noise. - Sangli Teng; Harry Zhang; David Jin; Ashkan Jasour; Ram Vasudevan; Maani Ghaffari; Luca Carlone (CoRR, 2025)

Convex Computation of Value-at-Risk Bounds for Stochastic Processes. - Jared Miller; Matteo Tacchi 001; Mario Sznaier; Ashkan Jasour (IEEE Trans. Autom. Control., 2025)