Publications

2- Ph.D. Thesis, "Multiple Model Based State Estimation and Trajectory Control for Micro Aerial Vehicles", Memorial University of Newfoundland, December, 2021. [University eprint] [PDF]

1- M.Sc. Thesis, "Online Control and Optimization of Directional Drilling", King Fahd University of Petroleum and Minerals  (KFUPM), November 2016. [University eprint] [PDF]

J5- Mahmoud A. K. Gomaa, O. De Silva, G.K.I. Mann, R. Gosine “Computationally Efficient Stability-based Nonlinear Model Predictive Control Design for Quadrotor MAVs”, IEEE Transactions on Control Systems Technology, 2022, doi: 10.1109/TCST.2022.3188399. [Publisher Site]

J4- Mahmoud A. K. Gomaa, O. De Silva, G.K.I. Mann, R. Gosine “Nonlinear MPC Without Terminal Costs or Constraints for Multi-rotor Aerial Vehicles”, IEEE Control Systems Letters, vol. 6, pp. 440-445, 2022, doi: 10.1109/LCSYS.2021.3078809, and presented at the 60th IEEE Conference on Decision and Control (CDC), December 2021, Austin, Texas, USA. [Publisher Site]

J3- Mahmoud A.K. Gomaa, O. De Silva, G. K. I. Mann and R. G. Gosine, "Observability-Constrained VINS for MAVs using Interacting Multiple Model Algorithm", IEEE Transactions on Aerospace and Electronic Systems, Dec. 2020. [Publisher Site] [PDF]

J2- Mahmoud A. Kamel, S. El-Katatny, M. Mysorewala, Abdulaziz Al-Majed, M. Elshafei “Adaptive and Real-Time Optimal Control of Stick-Slip and Bit Wear in Autonomous Rotary Steerable Drilling”, AِSME Transactions Journal of Energy Resources Technology, Oct. 2017; 140(3) doi:10.1115/1.4038131. [Publisher Site] [PDF, accepted version]  

J1- Mahmoud A. Kamel, M. A. Abido, M. Elshafei “Quad-Rotor Directional Steering System Controller Design Using Gravitational Search Optimization, Journal of Intelligent Automation & Soft Computing, July 2017, doi: 10.1080/10798587.2017.1342414. [Publisher Site] [PDF] 

C8- Mahmoud A. K. Gomaa, O. De Silva, A. Jayasiri, G.K.I. Mann “Towards Computationally Efficient NMPC Design with Stability Guarantee for Learning-based Dynamic Models: A Case Study of UAVs," 2024 IEEE American Control Conference (ACC), July 2024, Toronto, Canada. [Publisher Site].

C7- Mahmoud A. K. Gomaa, O. De Silva, A. Jayasiri, G.K.I. Mann “Disturbance Observer and Depth Enhanced Visual-Inertial Navigation System For Multi-rotor MAVs: An Observability Analysis”, The 61th IEEE Conference on Decision and Control (CDC), Dec., 2022, Cancun, Mexico. [Publisher Site] [PDF]

C6- Mahmoud A. K. Gomaa, O. De Silva, A. Jayasiri, G.K.I. Mann “Towards Consistent Visual-Inertial Navigation for Unmanned Aerial Vehicles using Depth Information”, The 35th Canadian Conference on Electrical and Computer Engineering (CCECE), Sep., 2022, NS, Canada. [Publisher Site] [PDF]

C5- Mahmoud A. K. Gomaa, O. De Silva, G. K. I. Mann, R. G. Gosine, "Interacting Multiple Model Navigation System for Quadrotor Micro Aerial Vehicles Subject to Rotor Drag", 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Las Vegas, NV, USA, 2020. [Publisher Site] [PDF]

C4- Mahmoud A. K. Gomaa, O. De Silva, G. K. I. Mann, R. G. Gosine and R. Hengeveld, "ROS Based Real-Time Motion Control for Robotic Visual Arts Exhibit Using Decawave Local Positioning System", 2020 American Control Conference (ACC), Denver, CO, USA, 2020, pp. 653-658. [Publisher Site] [PDF]

C3- Mahmoud A. Kamel ; Moustafa Eishafei ; Abdul-Wahid A. Saif ; Abdulaziz A. Al-Majed “ Automatic Trenchless Horizontal Directional Drilling Using Quad Motors Drilling Heads”, 15th International Multi-Conference on Systems, Signals & Devices (SSD) , March 2018, Tunisia , DOI: 10.1109/SSD.2018.8570510 . [Publisher Site] [PDF]

C2- Mahmoud A. Kamel, M. Elshafei, M. Mysorewala, A.A. Al-Majed “Online Control of Stick-Slip in Rotary Steerable Drilling”, 9th IEEE-GCC Conference & Exhibition, May 2017,  Bahrain, DOI: 10.1109/IEEEGCC.2017.8448003 . [Publisher Site] [PDF]

C1- Mahmoud A. Kamel, S. Elkatatny, M. Mysorewala, A.A. Al-Majed, M. Elshafei, “Bit wear Control and Optimization in Autonomous Rotary Steerable Drilling” SPE Annual Technical Symposium & Exhibition (ATS&E), 25-27 April 2017, Dammam, Saudi Arabia, DOI: https://doi.org/10.2118/188078-MS. [Publisher Site] [PDF]

B1- Mahmoud A. K. Gomaa, M. Elshafei, AW.A. Saif, A.A. Al-Majed "Autonomous Trenchless Horizontal Directional Drilling", In: Ghommam J., Derbel N., Zhu Q. (eds) New Trends in Robot Control. Studies in Systems, Decision and Control, vol 270. Springer, Singapore, 2020. [Publisher Site]