Field of Research

• Control of Multibody Systems
• Motion and Position Control of Mobile Robots
• Cooperative Transportation of a load Using Swarm Mobile Robots

Transporting an elastic plate using mobile robots purely by normal and friction forces. The absence of a rigid connection gives the robots the ability to move and stick or slip under the plate.

Transporting an elastic plate through a narrow passage where only one mobile robot can pass at a time.	Simulation result with five robots.

Publications

• Sharafian Ardakani, E., Ebel, H., Eberhard, P.: Study on the Cooperative Transportation of a Load using Swarm Robots. Proceedings IMSD, 5th Joint International Conference on Multibody System Dynamics, Lisboa, Portugal,June 24-28, 2018.
• Sharafian Ardakani, E.; Eberhard, P.: Robotino Localization. Technical Report (Institutsbericht) IB-60, Institute of Engineering and Computational Mechanics, University of Stuttgart, 2017. (12 pages)
• Ebel, H.; Sharafian Ardakani, E.; Eberhard, P.: Comparison of Distributed Model Predictive Control Approaches for Transporting a Load by a Formation of Mobile Robots. Proceedings of the 8th ECCOMAS Thematic Conference on Multibody Dynamics, Prague, June 19-22, 2017.
• Sharafian Ardakani, E.; Ebel, H.; Eberhard, P.: Transporting an Elastic Plate Using a Group of Swarm Mobile Robots. In Proceedings of the 2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), Munich, July 3-7, 2017.doi:10.1109/AIM.2017.8014213
• Ebel, H.; Sharafian Ardakani, E.; Eberhard, P.: Distributed Model Predictive Formation Control with Discretization-Free Path Planning for Transporting a Load. Robotics and Autonomous Systems, Vol. 96, pp. 211-223, October 2017. doi:10.1016/j.robot.2017.07.007
• Sharafian Ardakani, E.; Eberhard, P.: Transporting a Load by a Group of Swarm Mobile Robots. Technical Report (Institutsbericht) IB-59, Institute of Engineering and Computational Mechanics, University of Stuttgart, 2016. (19 pages)
• Sharafian Ardakani, E.; Eberhard, P.: Cooperative Search by Swarm Robots Based on Bacterial Foraging Optimization. In Proceedings of the 24th Annual International Conference on Mechanical Engineering (ISME), 2016.
• Sharafian Ardakani, E.; Eberhard, P.: Bacterial Foraging Optimization via Stigmergy Method. Technical Report (Institutsbericht) IB-58, Institute of Engineering and Computational Mechanics, University of Stuttgart, 2015. (18 pages)
• Sharafian Ardakani, E.; Tale Masouleh, M.; Ghaffari, A.: Environment and Objects Detection Using E-puck Robot. In Proceedings of ECCOMAS Multibody Dynamics 2013, University of Zagreb, Croatia, 2013.
• Sharafian Ardakani, E.; Tale Masouleh, M.; Ghaffari, A.; Ansari Eshlaghi, F.: Objects Detection and Localization in an Unknown Environment Using Image Processing and Artificial Neural Networks. In Proceedings of the 22th Annual International Conference on Mechanical Engineering (ISME), 2014.
• Sharafian Ardakani, E.; Ansari Eshlaghi, F.; Daneshmand, M.; Tale Masouleh, M.; Menhaj, M.B.; Ghaffari, A.: Path Planning and Obstacle Avoidance of Mobile Robots via Potential Field Based on Fuzzy Controlling. In Proceedings of the 13th Iranian Conference on Fuzzy Systems (IFSC), 2013.

Poster-Presentations

• Sharafian Ardakani, E.; Eberhard, P.: 4. October 2017, The 10th SimTech Status Seminar, Bad Boll, Germany, "Vision Based Indoor Localization of Mobile Robots"
• Sharafian Ardakani, E.; Eberhard, P.: 25. November 2016, The 9th SimTech Status Seminar, Bad Boll, Germany, "Transporting a Load Using Swarm Robots"
• Sharafian Ardakani, E.; Eberhard, P.: 25. November 2015, The 8th SimTech Status Seminar, Bad Boll, Germany, "Distributed Control of Swarm Robots Using Ideas from Bacteria Populations"

Talks

• 26. June 2018: 5th Joint International Conference on Multibody System Dynamics (IMSD2018), Lisboa, Portugal, "An Experimental Study on the Cooperative Transportation of a Load using Swarm Robots"

• 28. May 2018: Status Seminar ITM, Bad Herrenalb, Germany, "Cooperative Transportation of a Load Using Swarm Robots based on ALPSO"
• 06. July 2017: International Conference on Advanced Intelligent Mechatronics (AIM 2017), Munich, Germany, "Transporting an Elastic Plate Using a Group of Swarm Mobile Robots"
• 22. May 2017: Status Seminar ITM, Monbachtal, Germany, "Localization of Robotinos"
• 28. Jun 2016: Status Seminar ITM, Monbachtal, Germany, "Transporting a Load by a Group of Mobile Robots"
• 07. May 2016: Center of Excellence in Design, Robotics, and Automation (CEDRA), Sharif University of Technology, Tehran ,Iran, "Design of a Dynamic Model of Transporting a Load by a Swarm Mobile Robots"
• 27. April 2016: The 24th Annual International Conference on Mechanical Engineering (ISME 2016), Yazd, Iran "Cooperative Search by Swarm Robots Based on Bacterial Foraging Optimization"
• 27. November 2015: The 8th SimTech Status Seminar, Bad Boll, Germany, "Distributed Control of Swarm Robots Using Ideas from Bacteria Populations"
• 11. July 2015: SimTech PhD Weekend 2015, Hirschegg, Austria, "Simulation and Control of a Swarm of Small Mobile Robots Using Bacteria Foraging Optimization"
• 16. June 2015: Status Seminar ITM, Monbachtal, Germany, "On the Analysis, Simulation and Control of a Swarm of Small Mobile Robots"

Supervised Theses

• Design and Build of a Quadcopter for Transporting a Load, Studienarbeit.
  Institut für Technische und Numerische Mechanik, Universität Stuttgart, 2017.(laufend)
  

• Design and Build of a Quadcopter for Transporting a Load, Student Project SA-16.
  Institute of Engineering and Computational Mechanics, University of Stuttgart, 2017.

• Trajectory Planning and Tracking Control of a Quadrotor in an Unknown and Dynamic Environment, Studienarbeit STUD-481.
  Institute of Engineering and Computational Mechanics, University of Stuttgart, 2017. In co-supervision with Henrik Ebel, M.Sc.

• Implementation and Analysis of Stochastic Sampling-Based Model Predictive Control for the Control of Nonlinear Mechanical Systems, Studienarbeit STUD-479.
  Institute of Engineering and Computational Mechanics, University of Stuttgart, 2017. In co-supervision with Henrik Ebel, M.Sc.

• Modeling, Parameter Identification and Model Validation for a Quadrotor, SimTech project thesis.
  Institute of Engineering and Computational Mechanics, University of Stuttgart, 2017. (running)
  In co-supervision with Henrik Ebel, M.Sc.

• Modeling, Simulation and Build a Quadcopter, Student Project SA-14.
  Institute of Engineering and Computational Mechanics, University of Stuttgart, 2017.

• Tracking and Following an Object Using Robotinos , Bachelor Thesis BSC-77.
  Institute of Engineering and Computational Mechanics, University of Stuttgart, 2017.

• Formation Control of Mobile Robots Using Results from Algebraic Graph Theory, Master Thesis MSC-254.
  Institute of Engineering and Computational Mechanics, University of Stuttgart, 2017.
  In co-supervision with Henrik Ebel, M.Sc.

• Attitude and Motion Control of an Elastic Plate Transported by a Formation of Mobile Robots, Student Thesis STUD-473.
  Institute of Engineering and Computational Mechanics, University of Stuttgart, 2017. In co-supervision with Henrik Ebel, M.Sc.

• Model Predictive Formation Control of Swarm Mobile Robots for Transporting a Load, Master Thesis MSC-239.
  Institute of Engineering and Computational Mechanics, University of Stuttgart, 2016.
• Designing a Dynamic Model and Simulation of Transporting a Load by a Group of Swarm Mobile Robots, Bachelor Thesis BSC-64.
  Institute of Engineering and Computational Mechanics, University of Stuttgart, 2016.
• Swarm Formation Control by Virtual Structure Method for Transporting a Load, Bachelor Thesis BSC-80.
  Institute of Engineering and Computational Mechanics, University of Stuttgart, 2017.

Teaching

• Supervision of the Practical Training Robotino Motion Control (WS 2017/18)


• Lecturer for the path planning chapter of the lecture Mechatronik (WS 2017/2018)


• Exercises classes in Applied Mechanics II (SS 2017)


• Supervision of the Practical Training Robotino Motion Control (WS 2016/17)


• Lecturer for the path planning chapter of the lecture Mechatronik (WS 2015/2016)


• Supervision of the Practical Training Robotino Motion Control (WS 2015/16)


• Exercises classes in Applied Mechanics II (SS 2015)

Additional Services at the Institute

• Business Cards