Interests and Objectives
I am mainly interested in Robotics, in particular:
- Robot Motion Planning
- Vision-based Control
- Mobile Manipulation
- Robotic Navigation/Exploration
- Systems Integration
My
main objective is to design practical and robust planning approaches
for complex robotic systems to achieve a high level of autonomy,
robustness, and safety in accomplishing various tasks in real
and complex environments. Beside the theoretical aspects of planning, robust integration of such systems is of my interest as well.
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Projects and Activities
We incorporate
sampling-based global path planning with Visual Servoing (VS) for a
robotic arm equipped with an in-hand camera. The path planning accounts
for a number of critical constraints: 1) maintaining continuous
visibility of the target within the camera's field of view, 2) avoiding
occlusion of target features caused by the workspace obstacles, robot's
body, or the target itself, 3) avoiding robot's collision with physical
obstacles or self collision, and 4) avoiding robot's joint limits.
Incorporating these constraints enhances the applicability of VS to
significantly more complex environments/tasks, thereby making the
resulting VS much more robust, more...
Flume Cart: A data acquisition system for a hydraulic flume
To be updated...
View Planning and Exploration with Occupancy Grids
To be updated...
Frontier-based Exploration Revisited
The aim of this project is to carry out qualitative experiments on frontier-based exploration and study its effectiveness in different environments. Through these experiments we compare the performance of the frontier-based exploration with another exploration method called Maximum Physical Volume where the dea is to maximize the amount of information which can be obtained when performing a measurement. We consider the exploration time and the length of the path traversed by the robot as two major performance indicators.
The aforementioned techniques were implemented in Player/Stage environment using a model of a Pioneer mobile robot equipped with a 360 degrees 2D laser scanner which moves in a 2D environment cluttered with obstacles, more...
Fast Marching Method: Theoretical Underpinnings and Applications to Robotics
To be updated...
Research Grant Facilitator at Research Resource Group
To be updated...
Robotic Navigation using Harmonic Function-based Probabilistic Roadmaps
To be updated...
Design and Implementation of a Controller Board for a Soccer Player Robot
To be updated...
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Referee Experiences
Over the years, I have reviewed papers for the following journals and conferences:
- IEEE International Conference on Emerging Technologies and Factory Automation
- Automation in Construction
- IEEE International Conference on Robotics and Automation (ICRA)
- IEEE/RSJ International Conference on Intelligent RObots and Systems (IROS)
- IEEE Robotics and Automation Magazine
- IEEE Transactions on Industrial Electronics
- IEEE Transactions on Systems, Man, and Cybernetics, Part B and C.
- IEEE/ASME International Conference
on Advanced Intelligent Mechatronics
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Presentations
- M. Kazemi and K. Gupta, and M. Mehrandezh "Global Path Planning for Robust Visual Servoing in Complex Environments", paper presentation at IEEE International Conference on Robotics and Automation, Kobe, Japan, May 2009.
- M. Kazemi and K. Gupta, "Autonomous Mobile Manipulation: A Framework and Experimental Test-bed", poster presentation at SVAR2006 – Space Vision and Advanced Robotics Workshop, MDA Space Missions, Brampton, Ontario, May 24, 2006.
- M. Kazemi, M. Mehrandezh, and K. Gupta, "Sensor-based robot path planning using harmonic function-based probabilistic roadmaps", paper presentation at International Conference on Advanced Robotics, Seattle, WA, USA, July 2005.
- M. Kazemi, M. Mehrandezh, and K. Gupta, "An Incremental Harmonic Function-based Probabilistic Roadmap Approach to Robot Path Planning", paper presentation at IEEE International Conference on Robotics and Automation, Barcelona, Spain, April 2005.
- M. Kazemi, "Robotic Navigation Using Harmonic Function-based Probabilistic Roadmaps", Masters defense presentation, University of Regina, Regina, Saskatchewan, Canada.
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