I am a postdoctoral researcher at the Stanford University Aeronautics and Astronautics Department Multi-Robot Systems Laboratory. My research lies at the intersection of control theory, optimization and machine learning . My focus is to enable efficient and safe decision making and planning algorithms, control strategies and estimation and fault diagnostic techniques for single and multiple autonomous agents in complex environments.
Publications
Intention Communication and Hypothesis Likelihood in Game-Theoretic Motion Planning
Occlusion-Aware MPC for Guaranteed Safe Robot Navigation with Unseen Dynamic Obstacles
Occlusion-Aware MPC for Guaranteed Safe Robot Navigation with Unseen Dynamic Obstacles
Roya Firoozi, Alexandre Mir, Gadi Sznaier Camps, Mac Schwager
Coordination of Autonomous Vehicles and Dynamic Traffic Rules in Mixed Traffic
Coordination of Autonomous Vehicles and Dynamic Traffic Rules in Mixed Automated/Manual Traffic
Roya Firoozi, Rien Quirynen, Stefano Di Cairano
Centralized and Distributed Motion Coordination
This set of papers presents work in motion planning and coordination for collaborative multi-robots using MPC and strong duality:
Roya Firoozi, Xiaojing Zhang, Francesco Borrelli
Roya Firoozi, Laura Ferranti, Xiaojing Zhang, Sebastian Nejadnik, Francesco Borrelli
Reconfiguration of heterogenous team of robots in tight environment.
Connected and autonomous vehicles can form various multi-lane platoon configurations to improve traffic mobility.
Vehicle Platooning: Theory and Experiments
Improving Urban Traffic Throughput With Vehicle Platooning: Theory and Experiments
Stanley W Smith, Yeojun Kim, Jacopo Guanetti, Ruolin Li, Roya Firoozi, Bruce Wootton, Alexander A Kurzhanskiy, Francesco Borrelli, Roberto Horowitz, Murat Arcak
Online Reachability Analysis for Nonlinear Vehicle Model
Safe Adaptive Cruise Control with Road Grade Preview and V2V Communication
Roya Firoozi, Shima Nazari, Jacopo Guanetti, Ryan O'Gorman, Francesco Borrelli
Vehicle Localization
Vehicle Localization and Control on Roads with Prior Grade Map
Roya Firoozi ; Jacopo Guanetti ; Roberto Horowitz ; Francesco Borrelli
Anomaly Detection using Gaussian Process
Battery Fault Diagnostics under Extreme Fast Charging: A Physics-based Learning Approach
Roya Firoozi, Sara Sattarzadeh, and Satadru Dey
Tensegrity Robot
System Design and Locomotion of SUPERball, an Untethered Tensegrity Robot
Andrew P. Sabelhaus, Jonathan Bruce, Ken Caluwaerts, Pavlo Manovi, Roya Fallah Firoozi, Sarah Dobi, Alice M. Agogino, Vytas SunSpiral
Teaching
Graduate Student Instructor: ME 131/ ME 236C
I was the GSI for the "Vehicle Dynamics and Control" course at UC Berkeley in spring 2021.
Graduate Student Instructor: ME C231A/ EE C 220B
I was the GSI for the "Experiential Advanced Control Design I" course at UC Berkeley in fall 2020.
Graduate Student Instructor: ME C231A/ EE C 220B Course Redesign
I redesigned and restructured the "Experiential Advanced Control Design I" course as GSI at UC Berkeley in summer 2020.