Networked Optimization, Diagnosis and Estimation LAB

2025

Publications

Minghao Ning, Yufeng Yang, Shucheng Huang, Jiaming Zhong, Keqi Shu, Chen Sun, Ehsan Hashemi, Amir Khajepour

SAP-CoPE: Social-Aware Planning using Cooperative Pose Estimation with Infrastructure Sensor Nodes

ArXiV

[Link]

Mohamed-Khalil Bouzidi, Ehsan Hashemi

Interaction-aware motion planning and control based on game theory with human-in-the-loop validation

Robotics and Autonomous Systems

[Link]

Bruno Henrique Groenner Barbosa, Neel Pratik Bhatt, Amir Khajepour, Ehsan Hashemi

Adaptive and soft constrained vision-map vehicle localization using Gaussian processes and instance segmentation

Expert Systems with Applications

[Link]

Niraj Reginald, Omar Al-Buraiki, Thanacha Choopojcharoen, Baris Fidan, Ehsan Hashemi

Visual-Inertial-Wheel Odometry with Slip Compensation and Dynamic Feature Elimination

Sensors (Basel, Switzerland)

[Link]

Balint Varga, Thomas Brand, Marcus Schmitz, Ehsan Hashemi

Interaction-Aware Model Predictive Decision-Making for Socially-Compliant Autonomous Driving in Mixed Urban Traffic Scenarios

ArXiV

[Link]

Rajasree Sarkar, Arunava Banerjee, Ehsan Hashemi

Adaptive Time-Delay Control for Cooperative Platooning Considering Slip

ACM Transactions on Cyber-Physical Systems

[Link]

M Weisman, A Kott, JE Ellis, B Murphy, T Parker, S Smith, J Vandekerckhove, D Senapati, P Bhagat, C Karfa, A Sarkar, I Incer, A Badithela, J Graebener, P Mallozzi, A Pandey, N Rouquette, SJ Yu, A Benveniste, B Caillaud, RM Murray, A Sangiovanni-Vincentelli, S Seshia, R Sarkar, A Banerjee, E Hashemi, MH Rais, M Ahsan, I Ahmed, V Choppella

Cyber-Physical Systems

ACM Transactions

[Link]

2024

Patents

Mansoor Alghooneh, Joseph K Moore, Christopher J Mettrick, Gregory P Kakert, Amir Khajepour, Amin Habibnejad Korayem, Yechen Qin, Ehsan Hashemi

Systems and methods for estimating tire wear

US Patent 11945265

[Link]

Publications

Minghao Ning, Yaodong Cui, Yufeng Yang, Shucheng Huang, Zhenan Liu, Ahmad Reza Alghooneh, Ehsan Hashemi, Amir Khajepour

Enhancing Indoor Mobility with Connected Sensor Nodes: A Real-Time, Delay-Aware Cooperative Perception Approach

ArXiV

[Link]

Minghao Ning, Amir Khajepour, Ehsan Hashemi, Chen Sun

A Novel Motion Planning for Autonomous Vehicles Using Point Cloud based Potential Field

IEEE Transactions on Vehicular Technology

[Link]

Yufeng Yang, Minghao Ning, Shucheng Huang, Ehsan Hashemi, Amir Khajepour

Intelligent Mobility System with Integrated Motion Planning and Control Utilizing Infrastructure Sensor Nodes

ArXiV

[Link]

Minghao Ning, Ahmad Reza Alghooneh, Chen Sun, Ruihe Zhang, Pouya Panahandeh, Steven Tuer, Ehsan Hashemi, Amir Khajepour

An Efficient Approach to Generate Safe Drivable Space by LiDAR-Camera-HDmap Fusion

ArXiV

[Link]

Ali Shafiezadeh, Neel P Bhatt, Ehsan Hashemi

LiDAR-Based Navigation Using Normal Distributions Transform Filter

IEEE ITSC 2024

[Link]

Neel P Bhatt, Ruihe Zhang, Minghao Ning, Ahmad R Alghooneh, Chen Sun, Pouya Panahandeh, Ehsan Mohammadbagher, Ted Ecclestone, Ben MacCallum, Ehsan Hashemi, Amir Khajepour

WATonoBus: Field-tested all-weather autonomous shuttle technology

IEEE ITSC 2024

[Link]

Marcelo Contreras, Neel P Bhatt, Ehsan Hashemi

DynaNav-SVO: Dynamic Stereo Visual Odometry With Semantic-Aware Perception for Autonomous Navigation

IEEE Transactions on Intelligent Vehicles

[Link]

Hao Zheng, Yinong Li, Ling Zheng, Ehsan Hashemi

Koopman-Based Hybrid Modeling and Zonotopic Tube Robust MPC for Motion Control of Automated Vehicles

IEEE Transactions on Intelligent Transportation Systems

[Link]

Isabella Luppi, Neel Pratik Bhatt, Ehsan Hashemi

Consensus-Based Information Filtering in Distributed LiDAR Sensor Network for Tracking Mobile Robots

Sensors MDPI

[Link]

Soham Dasgupta, Venkata Naren Devarakonda, Yifeng Cao, Minghao Ning, Neel P Bhatt, Yufeng Yang, Ehsan Hashemi, Amir Khajepour

Object Reconstruction and Localization in Indoor Environments using Infrastructure Sensor Node

IEEE Sensors Journal

[Link]

Yu Zhang, Yuxuan Hu, Xuepeng Hu, Yechen Qin, Zhenfeng Wang, Mingming Dong, Ehsan Hashemi

Adaptive Crash-Avoidance Predictive Control Under Multi-Vehicle Dynamic Environment for Intelligent Vehicles

IEEE Transactions on Intelligent Vehicles

[Link]

Hadis Saadati Nezhad, Marcelo Contreras, André McDonald, Ehsan Hashemi

Visual Odometry for Mobile Material Deposition Systems Using RGB-D Cameras

International Thermal Spray Conference 2024

[Link]

Marcelo Contreras, Aayush Jain, Neel Pratik Bhatt, Arunava Banerjee, Ehsan Hashemi

A survey on 3D Object Detection in Real Time for Autonomous Driving

Frontiers in Robotics and AI

[Link]

Ehsan Hashemi, Amir Khajepour

Integrated Path-Tracking and Combined-Slip Force Controls of Autonomous Ground Vehicles with Safe Constraints Adaptation

IEEE Transactions on Intelligent Vehicles

[Link]

Hao Zheng, Yinong Li, Ling Zheng, Ehsan Hashemi

Safe Motion Planning and Control Framework for Automated Vehicles with Zonotopic TRMPC

Engineering Elsevier

[Link]

Ehsan Hashemi

Integrated Combined-Slip based Vehicle and Wheel Dynamic Control for Electric Vehicles

IEEE Transactions on Transportation Electrification

[Link]

2023

Publications

Teng Li, Hongjun Xing, Ehsan Hashemi, Hamid D. Taghirad, Mahdi Tavakoli

A brief survey of observers for disturbance estimation and compensation

Robotica

[Link]

Neel P Bhatt, Ruihe Zhang, Minghao Ning, Ahmad Reza Alghooneh, Joseph Sun, Pouya Panahandeh, Ehsan Mohammadbagher, Ted Ecclestone, Ben MacCallum, Ehsan Hashemi, Amir Khajepour

WATonoBus: An All Weather Autonomous Shuttle

ArXiv

[Link]

Hong Wang, Lei Song, Zichun Wei, Liming Peng, Jun Li, Ehsan Hashemi

Driving safety zone model oriented motion planning framework for autonomous truck platooning

Accident Analysis & Prevention

[Link]

Mohammad H Mamduhi, Ehsan Hashemi

Event-triggered control with intermittent communications over erasure channels for leader–follower problems with the combined-slip effect

ACM Transactions on Cyber-Physical Systems

[Link]

Lei Song, Xiaohan Ma, Ehsan Hashemi, Hong Wang

A Defensive Motion Framework for Autonomous Platoon to Handle Cut-in Maneuvers

IEEE ITSC 2023

[Link]

Marcelo Contreras, Neel P Bhatt, Ehsan Hashemi

A Stereo Visual Odometry Framework with Augmented Perception for Dynamic Urban Environments

IEEE ITSC 2023

[Link]

Xin Xia, Neel P Bhatt, Amir Khajepour, Ehsan Hashemi

Integrated inertial-LiDAR-based map matching localization for varying environments

IEEE transactions on intelligent vehicles

[Link]

Hong Wang, Li-Ming Peng, Zichun Wei, Kai Yang, Luo Jiang, Ehsan Hashemi

A holistic robust motion control framework for autonomous platooning

IEEE Transactions on Vehicular Technology

[Link]

J Weng, E Hashemi, A Arami

Human gait cost function varies with walking speed: An inverse optimal control study

IEEE Robotics and Automation Letters

[Link]

Xingkang He, Ehsan Hashemi, Karl H Johansson

Navigating a mobile robot using switching distributed sensor networks

European Control Conference (ECC) 2023

[Link]

Zhewei Zhu, Xiaolin Tang, Yechen Qin, Yiwei Huang, Ehsan Hashemi

A survey of lateral stability criterion and control application for autonomous vehicles

IEEE Transactions on Intelligent Transportation Systems

[Link]

Mohamed-Khalil Bouzidi, Ehsan Hashemi

Interaction-aware merging in mixed traffic with integrated game-theoretic predictive control and inverse differential game

2023 IEEE Intelligent Vehicles Symposium (IV)

[Link]

Mohammad Mahmoudi Filabadi, Ehsan Hashemi

Distributed Robust Control Framework for Adaptive Cruise Control Systems

American Control Conference (ACC) 2023

[Link]

S Maleki, A McDonald, E Hashemi

Visual Navigation for Autonomous Mobile Material Deposition Systems using Remote Sensing

ITSC 2023

[Link]

Lei Song, Jun Li, Zichun Wei, Kai Yang, Ehsan Hashemi, Hong Wang

Longitudinal and lateral control methods from single vehicle to autonomous platoon

Green Energy and Intelligent Transportation

[Link]

Neel P Bhatt, Amir Khajepour, Ehsan Hashemi

MPC-PF: socially and spatially aware object trajectory prediction for autonomous driving systems using potential fields

IEEE Transactions on Intelligent Transportation Systems

[Link]

Yu Zhang, Yutian Lin, Yechen Qin, Mingming Dong, Li Gao, Ehsan Hashemi

A new adaptive cruise control considering crash avoidance for intelligent vehicle

IEEE Transactions on Industrial Electronics

[Link]

2022

Publications

Yu Zhang, Mingfan Xu, Yechen Qin, Mingming Dong, Li Gao, Ehsan Hashemi

MILE: Multiobjective integrated model predictive adaptive cruise control for intelligent vehicle

IEEE Transactions on Industrial Informatics

[Link]

Neel P Bhatt, Amir Khajepour, Ehsan Hashemi

MPC-PF: social interaction aware trajectory prediction of dynamic objects for autonomous driving using potential fields

2022 IEEE/RSJ IROS

[Link]

Niraj Reginald, Omar Al-Buraiki, Baris Fidan, Ehsan Hashemi

Confidence Estimator Design for Dynamic Feature Point Removal in Robot Visual-Inertial Odometry

IEEE IECON 2022

[Link]

Arunava Banerjee, Ehsan Hashemi

Slip-aware networked vehicular model and control for connected automated driving

IEEE ITSC 2022

[Link]

Ali Salimzadeh, Neel P Bhatt, Ehsan Hashemi

Augmented visual localization using a monocular camera for autonomous mobile robots

IEEE CASE 2022

[Link]

Daniel Flögel, Neel Pratik Bhatt, Ehsan Hashemi

Infrastructure-aided localization and state estimation for autonomous mobile robots

MDPI Robotics

[Link]

Ehsan Hashemi, Xingkang He, Karl H Johansson

Robust slip-aware fusion for mobile robots state estimation

IEEE Robotics and Automation Letters

[Link]

Jiacheng Weng, Ehsan Hashemi, Arash Arami

Adaptive reference inverse optimal control for natural walking with musculoskeletal models

IEEE Transactions on Neural Systems and Rehabilitation Engineering

[Link]

Ehsan Hashemi, Arunava Banerjee

Proprioceptive Observer Design for Speed Estimation in Automated Driving Systems

2022 IEEE Intelligent Vehicles Symposium (IV)

[Link]

Nan Xu, Ehsan Hashemi, Zepeng Tang, Amir Khajepour

Data-driven tire capacity estimation with experimental verification

IEEE Transactions on Intelligent Transportation Systems

[Link]

Xin Xia, Ehsan Hashemi, Lu Xiong, Amir Khajepour

Autonomous vehicle kinematics and dynamics synthesis for sideslip angle estimation based on consensus Kalman filter

IEEE Transactions on Control Systems Technology

[Link]

Amin Habibnejad Korayem, Ehsan Hashemi, Amir Khajepour, Baris Fidan

Estimation of Vehicle–Trailer Hitch-Forces and Lateral Tire Forces Independent of Trailer Type and Geometry

Journal of Dynamic Systems, Measurement, and Control

[Link]

Hong Wang, Chen Lv, Xiaosong Hu, Yisheng Lv, Lingxi Li, Ehsan Hashemi, Meng Wang

Special section on safety of automated driving in intelligent transportation systems

IEEE Intelligent Transportation Systems Magazine

[Link]

Ehsan Hashemi, Yechen Qin, Amir Khajepour

Slip-aware driver assistance path tracking and stability control

Control Engineering Practice

[Link]

2021

Publications

Xingkang He, Ehsan Hashemi, Karl H Johansson

Distributed control under compromised measurements: Resilient estimation, attack detection, and vehicle platooning

Automatica

[Link]

Mehdi Abroshan, Reza Hajiloo, Ehsan Hashemi, Amir Khajepour

Model predictive-based tractor-trailer stabilisation using differential braking with experimental verification

Vehicle system dynamics

[Link]

Hong Wang, Bing Lu, Jun Li, Teng Liu, Yang Xing, Chen Lv, Dongpu Cao, Jingxuan Li, Jinwei Zhang, Ehsan Hashemi

Risk assessment and mitigation in local path planning for autonomous vehicles with LSTM based predictive model

IEEE Transactions on Automation Science and Engineering

[Link]

Merijn Floren, Amir Khajepour, Ehsan Hashemi

An integrated control approach for the combined longitudinal and lateral vehicle following problem

2021 American Control Conference (ACC)

[Link]

Xin Xia, Ehsan Hashemi, Lu Xiong, Amir Khajepour, Nan Xu

Autonomous vehicles sideslip angle estimation: Single antenna GNSS/IMU fusion with observability analysis

IEEE Internet of Things Journal

[Link]

Jiacheng Weng, Ehsan Hashemi, Arash Arami

Natural walking with musculoskeletal models using deep reinforcement learning

IEEE Robotics and Automation Letters

[Link]

Ehsan Hashemi, Amir Khajepour, Nikolai Moshchuk, Shih-Ken Chen

Real-Time Road Bank Estimation With Disturbance Observers for Vehicle Control Systems

IEEE Transactions on Control Systems Technology

[Link]

Yechen Qin, Ehsan Hashemi, Amir Khajepour

Integrated crash avoidance and mitigation algorithm for autonomous vehicles

IEEE Transactions on Industrial Informatics

[Link]

Bruno H Groenner Barbosa, Neel P Bhatt, Amir Khajepour, Ehsan Hashemi

Soft constrained autonomous vehicle navigation using gaussian processes and instance segmentation

arXiv

[Link]

2020

Publications

Ehsan Mohammadbagher, Neel P Bhatt, Ehsan Hashemi, Baris Fidan, Amir Khajepour

Real-time Pedestrian Localization and State Estimation Using Moving Horizon Estimation

IEEE ITSC 2020

[Link]

Abdullah Yeaser, James Tung, Jan Huissoon, Ehsan Hashemi

Learning-aided user intent estimation for smart rollators

IEEE EMBC 2020

[Link]

Yiwen Liao, Ehsan Hashemi, Tong Wang, Bin Yang

A Learning-Aided Generic Framework for Fault Detection and Recovery of Inertial Sensors in Automated Driving Systems

IEEE Systems Journal

[Link]

Ehsan Hashemi, Xingkang He, Karl Henrik Johansson

A dynamical game approach for integrated stabilization and path tracking for autonomous vehicles

2020 American Control Conference (ACC)

[Link]

Ehsan Hashemi, Milad Jalali, Amir Khajepour, Alireza Kasaiezadeh, Shih-ken Chen

Vehicle stability control: Model predictive approach and combined-slip effect

IEEE/ASME Transactions on Mechatronics

[Link]

Xingkang He, Ehsan Hashemi, Karl H Johansson

Secure platooning of autonomous vehicles under attacked GPS data

arXiv

[Link]

Yubiao Zhang, Amir Khajepour, Ehsan Hashemi, Yechen Qin, Yanjun Huang

Reconfigurable model predictive control for articulated vehicle stability with experimental validation

IEEE Transactions on Transportation Electrification

[Link]

Xingkang He, Ehsan Hashemi, Karl H Johansson

Event-Triggered Task-Switching Control Based on Distributed Estimation

IFAC

[Link]

Mohammad H Mamduhi, Ehsan Hashemi, John S Baras, Karl H Johansson

Event-triggered add-on safety for connected and automated vehicles using road-side network infrastructure

IFAC

[Link]

2019

Patents

Seyedalireza Kasaiezadeh Mahabadi, James H Holbrook, Hualin Tan, Ehsan Hashemi, Bakhtiar B Litkouhi

Combined slip-based driver command interpreter

US Patent 10407034

[Link]

SeyedAlireza Kasaiezadeh Mahabadi, Ehsan Hashemi, Bakhtiar B Litkouhi, Nikolai K Moshchuk, Shih-Ken Chen

Systems and methods for fault detection in lateral velocity estimation

US Patent 10202125

[Link]

Publications

Yechen Qin, Zhenfeng Wang, Changle Xiang, Ehsan Hashemi, Amir Khajepour, Yanjun Huang

Speed independent road classification strategy based on vehicle response: Theory and experimental validation

Mechanical Systems and Signal Processing

[Link]

Ehsan Hashemi, Mohammad Pirani, Amir Khajepour, Baris Fidan, Shih-ken Chen, Bakhtiar Litkouhi

Fault tolerant consensus for vehicle state estimation: A cyber-physical approach

IEEE Transactions on Industrial Informatics

[Link]

Philip E Paré, Ehsan Hashemi, Raphael Stern, Henrik Sandberg, Karl Henrik Johansson

Networked model for cooperative adaptive cruise control

IFAC

[Link]

Hassan Askari, Ehsan Hashemi, Amir Khajepour, Mir Behrad Khamesee, Zhong Lin Wang

Tire condition monitoring and intelligent tires using nanogenerators based on piezoelectric, electromagnetic, and triboelectric effects

Advanced Materials Technologies

[Link]

Before 2019

Patents

SeyedAlireza Kasaiezadeh Mahabadi, Ehsan Hashemi, Amir Khajepour, Shih-Ken Chen, Bakhtiar B Litkouhi

Corner-based longitudinal speed estimation

US Patent 10040460

[Link]

Publications

2018

H. Askari, E. Hashemi, A. Khajepour, M. B. Khamesee, and Z. L. Wang, “Towards self-powered sensing using nanogenerators for automotive systems,” Nano Energy, vol. 53, pp. 1003–1019, Nov. 2018, doi: 10.1016/j.nanoen.2018.09.032.
M. Jalali, E. Hashemi, A. Khajepour, S.-K. Chen, and B. Litkouhi, “Model predictive control of vehicle roll-over with experimental verification,” Control Engineering Practice, vol. 77, pp. 95–108, Aug. 2018, doi: 10.1016/j.conengprac.2018.04.008.
M. Pirani et al., “Cooperative Vehicle Speed Fault diagnosis and Correction,” IEEE Transactions on Intelligent Transportation Systems, vol. 20, no. 2, pp. 783–789, Feb. 2019, doi: 10.1109/tits.2018.2820044.
M. Jalali, E. Hashemi, A. Khajepour, S.-K. Chen, and B. Litkouhi, “A combined-slip predictive control of vehicle stability with experimental verification,” Vehicle System Dynamics, vol. 56, no. 2, pp. 319–340, Sep. 2017, doi: 10.1080/00423114.2017.1376751.
M. Pirani, E. Hashemi, B. Fidan, J. W. Simpson-Porco, H. Sandberg, and K. H. Johansson, “Resilient estimation and control on K-Nearest neighbor platoons: A Network-Theoretic Approach,” IFAC-PapersOnLine, vol. 51, no. 23, pp. 22–27, Jan. 2018, doi: 10.1016/j.ifacol.2018.12.005.

2017

M. Jalali, E. Hashemi, A. Khajepour, S.-K. Chen, and B. Litkouhi, “Integrated model predictive control and velocity estimation of electric vehicles,” Mechatronics, vol. 46, pp. 84–100, Oct. 2017, doi: 10.1016/j.mechatronics.2017.07.002.
E. Hashemi, M. Pirani, A. Khajepour, B. Fidan, A. Kasaiezadeh, and S.-K. Chen, “Opinion Dynamics-Based Vehicle Velocity Estimation and Diagnosis,” IEEE Transactions on Intelligent Transportation Systems, vol. 19, no. 7, pp. 2142–2148, Jul. 2018, doi: 10.1109/tits.2017.2724852.
M. Pirani, E. Hashemi, B. Fidan, and J. W. Simpson-Porco, “H ∞ Performance of mechanical and power networks,” IFAC-PapersOnLine, vol. 50, no. 1, pp. 5196–5201, Jul. 2017, doi: 10.1016/j.ifacol.2017.08.453.
E. Hashemi, M. Pirani, B. Fidan, A. Khajepour, S.-K. Chen, and B. Litkouhi, “Distributed robust vehicle state estimation,” 2017 IEEE Intelligent Vehicles Symposium (IV), Jun. 2017, doi: 10.1109/ivs.2017.7995798.
E. Hashemi, R. Zarringhalam, A. Khajepour, W. Melek, A. Kasaiezadeh, and S.-K. Chen, “Real-time estimation of the road bank and grade angles with unknown input observers,” Vehicle System Dynamics, vol. 55, no. 5, pp. 648–667, Jan. 2017, doi: 10.1080/00423114.2016.1275706.
E. Hashemi, S. Khosravani, A. Khajepour, A. Kasaiezadeh, S.-K. Chen, and B. Litkouhi, “Longitudinal vehicle state estimation using nonlinear and parameter-varying observers,” Mechatronics, vol. 43, pp. 28–39, May 2017, doi: 10.1016/j.mechatronics.2017.02.004.
E. Hashemi, “Full vehicle state estimation using a holistic corner-based approach,” 2017. [Online]. Available: https://libuwspaceprd02.uwaterloo.ca/handle/10012/11744?show=full
E. Hashemi, M. Pirani, A. Khajepour, A. Kasaiezadeh, S.-K. Chen, and B. Litkouhi, “Corner-based estimation of tire forces and vehicle velocities robust to road conditions,” Control Engineering Practice, vol. 61, pp. 28–40, Apr. 2017, doi: 10.1016/j.conengprac.2017.01.009.
M. Pirani, E. Hashemi, J. W. Simpson-Porco, B. Fidan, and A. Khajepour, “Graph Theoretic Approach to the Robustness of $k$ -Nearest Neighbor Vehicle Platoons,” IEEE Transactions on Intelligent Transportation Systems, vol. 18, no. 11, pp. 3218–3224, Nov. 2017, doi: 10.1109/tits.2017.2671347.
E. Hashemi and A. Khajepour, “Kinematic and three-dimensional dynamic modeling of a biped robot,” Proceedings of the Institution of Mechanical Engineers Part K Journal of Multi-body Dynamics, vol. 231, no. 1, pp. 57–73, Aug. 2016, doi: 10.1177/1464419316645243.
M. Pirani et al., “Resilient Corner-Based vehicle velocity estimation,” IEEE Transactions on Control Systems Technology, vol. 26, no. 2, pp. 452–462, Mar. 2018, doi: 10.1109/tcst.2017.2669157.

2016

E. Hashemi, M. Pirani, A. Khajepour, and A. Kasaiezadeh, “A comprehensive study on the stability analysis of vehicle dynamics with pure/combined-slip tyre models,” Vehicle System Dynamics, vol. 54, no. 12, pp. 1736–1761, Sep. 2016, doi: 10.1080/00423114.2016.1232417.
E. Hashemi, A. Kasaiezadeh, S. Khosravani, A. Khajepour, N. Moshchuk, and S.-K. Chen, “Estimation of longitudinal speed robust to road conditions for ground vehicles,” Vehicle System Dynamics, vol. 54, no. 8, pp. 1120–1146, Jun. 2016, doi: 10.1080/00423114.2016.1178391.
E. Hashemi, A. Kasaiezadeh, S. Khosravani, A. Khajepour, N. Moshchuk, and S.-K. Chen, “Estimation of longitudinal speed robust to road conditions for ground vehicles,” Vehicle System Dynamics, vol. 54, no. 8, pp. 1120–1146, Jun. 2016, doi: 10.1080/00423114.2016.1178391.
E. Hashemi et al., “Integrated estimation structure for the tire friction forces in ground vehicles,” 2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), Jul. 2016, doi: 10.1109/aim.2016.7577008.
M. Pirani, E. Hashemi, B. Fidan, and J. W. Simpson-Porco, ‘H-∞ robustness in mechanical and power networks’, IFAC-PapersOnLine, vol. 50, no. 1, pp. 5196–5201, 2016.

2014

E. Hashemi, A. Kasaiezadeh, A. Khajepour, N. Moshchuk, and S.-K. Chen, “Robust Estimation and Experimental Evaluation of Longitudinal Friction Forces in Ground Vehicles,” ASME International Mechanical Engineering Congress and Exposition, Nov. 2014, doi: 10.1115/imece2014-39390.
E. Hashemi and B. Farshi, “FINITE ELEMENT BASED ELASTO-PLASTIC ANALYSIS OF CLASSICAL AND FIRST ORDER BEAMS WITH ARMSTRONG–FREDERICK KINEMATIC HARDENING MODEL,” Transactions of the Canadian Society for Mechanical Engineering, vol. 38, no. 1, pp. 1–14, Mar. 2014, doi: 10.1139/tcsme-2014-0001.

2012

E. Hashemi, M. G. Jadid, M. Lashgarian, M. Yaghobi, and R. N. M. Shafiei, “Particle filter based localization of the Nao biped robots,” Proceedings of the 2012 44th Southeastern Symposium on System Theory (SSST), Mar. 2012, doi: 10.1109/ssst.2012.6195128.
E. Hashemi, M. Sharifi, and B. Farshi, “FEM modeling of beams cyclic loading based on Ziegler-Prager and Armstrong-Frederick Kinematic hardening models,” Applied Mechanics and Materials, vol. 110–116, pp. 2838–2846, Oct. 2011, doi: 10.4028/www.scientific.net/amm.110-116.2838.

2011

E. Hashemi, M. G. Jadidi, and N. G. Jadidi, “Model-based PI–fuzzy control of four-wheeled omni-directional mobile robots,” Robotics and Autonomous Systems, vol. 59, no. 11, pp. 930–942, Nov. 2011, doi: 10.1016/j.robot.2011.07.002.
E. Hashemi, M. G. Jadidi, M. R. S. Mohammadi, and M. Karimi, “In-plane path planning for biped robots based on bezier curve,” 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Jul. 2011, doi: 10.1109/aim.2011.6027102.
E. Hashemi, M. G. Jadidi, and N. G. Jadidi, “Model-based PI–fuzzy control of four-wheeled omni-directional mobile robots,” Robotics and Autonomous Systems, vol. 59, no. 11, pp. 930–942, Nov. 2011, doi: 10.1016/j.robot.2011.07.002.
E. Hashemi and B. Farshi, “Cyclic loading of beams based on kinematic hardening models: a finite element approach,” International Journal of Modeling and Optimization, pp. 210–215, Jan. 2011, doi: 10.7763/ijmo.2011.v1.37.
E. Hashemi and M. G. Jadidi, “Dynamic Modeling and Control Study of the NAO Biped Robot with Improved Trajectory Planning,” in Advanced structured materials, 2012, pp. 671–688. doi: 10.1007/978-3-642-22700-4_42.

2010

M. Karimi and E. Hashemi, “Modified one-dimensional analysis and two-zone modelling for predicting the performance of radial compressors,” Proceedings of the Institution of Mechanical Engineers Part a Journal of Power and Energy, vol. 224, no. 5, pp. 701–709, May 2010, doi: 10.1243/09576509jpe914.

2009

E. Hashemi, M. G. Jadidi, and O. B. Babarsad, “Trajectory planning optimization with dynamic modeling of four wheeled omni-directional mobile robots,” 2009 IEEE International Symposium on Computational Intelligence in Robotics and Automation-(CIRA), Dec. 2009, doi: 10.1109/cira.2009.5423195.

2008

E. Hashemi, E. Dolatabadi, and P. Pezeshkpour, “Optimized Modeling of Gas Turbine Power Augmentation Using Steam Injection and Inlet Cooling,” ASME International Mechanical Engineering Congress and Exposition, Jan. 2008, doi: 10.1115/imece2008-68807.
E. Hashemi and P. Pezeshkpour, “Multi-Stage Centrifugal Compressors and Defining the Optimum Pressure Ratio According to Temperature Limitations,” ASME Power Conference, Jan. 2008, doi: 10.1115/power2008-60090.

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