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Ehsan Sharafian, Dr.-Ing. (2015 - 2018)
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Field of Research
- Control of Multibody Systems
- Motion and Position Control of Mobile Robots
- Cooperative Transportation of a load Using Swarm Mobile Robots
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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. |
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Transporting an elastic plate through a narrow passage where only one mobile robot can pass at a time. | Simulation result with five robots. |
Publications
black: published, green: accepted for publication, red: submitted for publication
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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.
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Sharafian Ardakani, E.; Eberhard, P.:
Robotino Localization. Technical Report (Institutsbericht) IB-60, Institute of Engineering and Computational Mechanics, University of Stuttgart, 2017. (12 pages)
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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.
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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
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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
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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)
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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.
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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)
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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.
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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.
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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
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Sharafian Ardakani, E.; Eberhard, P.:
4. October 2017, The 10th SimTech Status Seminar, Bad Boll, Germany, "Vision Based Indoor Localization of Mobile Robots"
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Sharafian Ardakani, E.; Eberhard, P.:
25. November 2016, The 9th SimTech Status Seminar, Bad Boll, Germany, "Transporting a Load Using Swarm Robots"
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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
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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"
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28. May 2018: Status Seminar ITM, Bad Herrenalb, Germany, "Cooperative Transportation of a Load Using Swarm Robots based on ALPSO"
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06. July 2017: International Conference on Advanced Intelligent Mechatronics (AIM 2017), Munich, Germany, "Transporting an Elastic Plate Using a Group of Swarm Mobile Robots"
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22. May 2017: Status Seminar ITM, Monbachtal, Germany, "Localization of Robotinos"
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28. Jun 2016: Status Seminar ITM, Monbachtal, Germany, "Transporting a Load by a Group of Mobile Robots"
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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"
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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"
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27. November 2015: The 8th SimTech Status Seminar, Bad Boll, Germany, "Distributed Control of Swarm Robots Using Ideas from Bacteria Populations"
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11. July 2015: SimTech PhD Weekend 2015, Hirschegg, Austria, "Simulation and Control of a Swarm of Small Mobile Robots Using Bacteria Foraging Optimization"
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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
Additional Services at the Institute
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