Bio: I am an assistant professor in the Department of Electrical and Computer Engineering at the University of Waterloo. Before this, I was a postdoctoral researcher in the Multi-Robot Systems Laboratory within the Department of Aeronautics and Astronautics at Stanford University. I earned my bachelor's degree in mechanical engineering and my PhD in control theory, optimization, and machine learning, both from the University of California, Berkeley.
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Joining Our Research Group: We are currently hiring PhD and master's students with a strong background in mathematics and coding. Please fill out the form if you're interested in joining our research group.
Research Overview: Our research group is dedicated to advancing safe robot autonomy in interactive open-world environments involving the coexistence or teaming of multiple robots and humans by (1) employing and advancing theoretical foundations of generative AI, distributed and game-theoretic optimization, and multi-agent learning for real-time robot autonomy while providing safety, performance properties, and computational efficiency; (2) bridging the gap between theory and real-world robot autonomy by harnessing the power of generative AI in decision making, perception, and prediction; (3) verifying the effectiveness of theorems and algorithms through hardware experiments. Our main research thrusts to achieve these goals are:
Enabling robot autonomy aided by generative AI: architecture and system integration,
Providing safety guarantees and risk-aware analysis for interactive robotic systems that use generative AI for perception, prediction, decision-making, and control,
Enabling highly complex interactive robot autonomy in interactive multi-agent scenarios through learning/AI, and distributed and game-theoretic optimization.
Publications:
Publications:
Foundation models in robotics: Applications, challenges and the future
Roya Firoozi, Johnathan Tucker, Stephen Tian, Anirudha Majumdar, Jiankai Sun, Weiyu Liu, Yuke Zhu, Shuran Song, Ashish Kapoor, Karol Hausman, Brian Ichter, Danny Driess, Jiajun Wu, Cewu Lu, Mac Schwager
Splat-mover: Multi-stage, open-vocabulary robotic manipulation via editable gaussian splatting
Ola Shorinwa, Johnathan Tucker, Aliyah Smith, Aiden Swann, Timothy Chen, Roya Firoozi, Monroe David Kennedy, Mac Schwager
OA-MPC: Occlusion-Aware MPC for Guaranteed Safe Robot Navigation with Unseen Dynamic Obstacles
Roya Firoozi, Alexandre Mir, Gadiel Sznaier Camps, Mac Schwager
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
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.
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
Safe Adaptive Cruise Control with Road Grade Preview and V2V Communication
Roya Firoozi, Shima Nazari, Jacopo Guanetti, Ryan O'Gorman, Francesco Borrelli
Vehicle Localization and Control on Roads with Prior Grade Map
Roya Firoozi ; Jacopo Guanetti ; Roberto Horowitz ; Francesco Borrelli
Battery Fault Diagnostics under Extreme Fast Charging: A Physics-based Learning Approach
Roya Firoozi, Sara Sattarzadeh, and Satadru Dey
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:
Teaching:
Guest Lecturer: Multi-Robot Control and Distributed Optimization, AA 277 , Stanford University, Winter 2022
Guest Lecturer: Advanced Feedback Control Design, AA 212, Stanford University, Fall 2021
Graduate Student Instructor: Vehicle Dynamics and Control, ME 131/ ME 236C, UC Berkeley, Spring 2021
Graduate Student Instructor: Experiential Advanced Control Design I, EE C 220B/ME C231A, UC Berkeley, Fall 2020
Graduate Student Instructor (Course Redesign): Experiential Advanced Control Design I, EE C 220B/ME C231A, UC Berkeley, Summer 2020
Previous Projects:
Previous Projects:
Quadratic and Linear Optimization with Analog Circuits (UC Berkeley MPC Lab)
Quadratic and Linear Optimization with Analog Circuits (UC Berkeley MPC Lab)
The purpose of this research project was converting LP and QP optimization problem to an equivalent analog circuit whose steady-state voltages are optimizers of LP/QP problem. The analog programmable optimization circuit contains programmable resistors (digital potentiometers) and diods. By changing the resistance of the potentiometers, and also connectivity of the switches, the board is highly configurable and can solve different linear and quadratic optimization problems.
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