Publications

Journal Articles

[64] E. P. Fortunic, M.C. Yildirim, D. Ossadnik, A. Swikir, S. Abdolsah, and S. Haddadin.
Optimally controlling the timing of energy transfer in elastic joints: Experimental validation of the Bi-Stiffness Actuation concept. IEEE Robotics and Automation Letters, 2023.
IEEE Robotics and Automation Letters Best Paper Award.

[63] R. Ringwald, S. Zong, A. Swikir, and S. Haddadin.
Automatic Gripper-Finger Design, Production and Application: Towards Fast and Cost Effective Small Batch Production. IEEE Robotics and Automation Magazine, 2023. Magazine Cover.

[62] R. Ringwald, S. Schneider, L. Chen, D. Knobbe, L. Johannsmeier, A. Swikir, and S. Haddadin.
Towards Task-Specific Modular Gripper Fingers: Automatic Production of Fingertip Mechanics. IEEE Robotics and Automation Letters, 2023.

[61] M. Sharifi, A. Swikir, N. Noroozi, and M. Zamani.
Compositional Construction of Abstractions for Infinite Networks of Discrete-Time Switched Systems. Nonlinear Analysis: Hybrid Systems, Volume 44, 2022.

[60] S. Liu, A. Swikir, and M. Zamani.
Verification of initial-state opacity for switched systems: A compositional approach. Nonlinear Analysis: Hybrid Systems, Volume 42, 2021.

[59] C. Kawan, A. Mironchenko, A. Swikir, N. Noroozi, and M. Zamani.
A Lyapunov-based small-gain theorem for infinite networks. IEEE Transactions on Automatic Control, vol. 66, no. 12, pp. 5830-5844, 2021. 2023 IEEE CSS George S. Axelby Outstanding Paper Award.

[58] A. Swikir, A. Girard, and M. Zamani.
Symbolic models for impulsive systems. IEEE Control Systems Letters, 5(1), pp. 247-252, June 2020. Presented at the 59th Conference on Decision and Control (CDC), 2020.

[57] A. Swikir and M. Zamani.
Compositional synthesis of finite abstractions for networks of systems: A small-gain approach. Automatica, 107, pp. 551-561, September 2019.

[56] A. Swikir and M. Zamani.
Compositional synthesis of symbolic models for networks of switched systems. IEEE Control Systems Letters, 3(4), pp. 1056-1061, June 2019. Presented at the 58th Conference on Decision and Control (CDC), 2019.

Peer-Reviewed Conference Proceedings

[55] K. Bieker, H. Kussaba, P. Scholl, J. Jung, A. Swikir, S. Haddadin, and G. Kutyniok.
A Compositional Construction of Barrier Functions for Switched Impulsive Systems. 63rd IEEE Conference on Decision and Control (CDC), 2024.

[54] L. Chen, H. Yu, A. Naceri, A. Swikir, and S. Haddadin.
Trajectory Planning for Non-Prehensile Object Transportation. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024.

[53] S. Groß, M. Ratzel, E. Welte, D. H. Carvajal, L. Chen, E. P. Fortunić, A. Ganguly, A. Swikir, and S. Haddadin.
A Tactile Artificial Hand with a Compliant Linkage Mechanism. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024.

[52] S. Kuhn, M. C. Yildirim, E. P. Fortunić, K. Karacan, A. Swikir, and S. Haddadin.
Investigation of the Variable Stiffness on Semi-Active Suspension System for Collaborative Wheeled Mobile Manipulators. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024. Best Mobile Manipulation Paper Award Finalist

[51] P. So, A. Abdelrahmen, H. Le, A. Swikir, and S. Haddadin.
Towards Mastering Real-World Robot Benchmarking: Lessons Learned from the Robothon Grand Challenge. European Robotics Forum, 2024.

[50] A. Aminzadeh, A. Swikir, S. Haddadin, and A. Lavaei.
Compositional Safety Verification of Infinite Networks: A Data-Driven Approach. IEEE European Control Conference (ECC), 2024.

[49] M. Abdelrahim, D. Almakhles, and A. Swikir.
Quantized Periodic Event-triggered Control for LTI Systems with 1-bit Data Transmission. IEEE European Control Conference (ECC), 2024.

[48] L. Chen, A. Naceri, A. Swikir, S. Hirche, and S. Haddadin.
Autonomous and Teleoperation Control of a Drawing Robot Avatar. IEEE International Conference on Robotics and Automation (ICRA), 2024.

[47] M. Schonger, H.T. M. Kussaba, L. Chen, L. Figueredo, A. Swikir, A. Billard, and S. Haddadin.
Learning barrier-certified polynomial dynamical systems for obstacle avoidance with robots. IEEE International Conference on Robotics and Automation (ICRA), 2024.

[46] D. Ossadnik, V. Rakčević, M.C. Yildirim, E. P. Fortunic, H.T. M. Kussaba, A. Swikir, and S. Haddadin.
Optimal Control for Clutched-Elastic Robotic Systems: A Contact-Implicit Approach. IEEE International Conference on Robotics and Automation (ICRA), 2024.

[45] P. So, R. Muchacho, R. Kirschner, A. Swikir, L. Figueredo, F. Abu-Dakka, and S. Haddadin.
CITR: A Coordinate-Invariant Task Representation for Robotic Manipulation. IEEE International Conference on Robotics and Automation (ICRA), 2024.

[44] L. Chen, H. Yu, A. Naceri, A. Swikir, and S. Haddadin.
Time Optimized Trajectory Planning for Non-Prehensile Object Transportation in 3D. European Robotics Forum, 2024.

[43] M. C. Yildirim, E. Pisano, M. Hamad, V. L. Mesle, A. Swikir, and S. Haddadin.
A Task-Aware Lightweight Link Design Framework for Robots Under Dynamic Loading. IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids), 2023.

[42] S. Alaoui, A. Saoud, P. Jagtap, and A. Swikir.
Symbolic Models for Interconnected Impulsive Systems. 62nd IEEE Conference on Decision and Control (CDC), 2023.

[41] M. Eckhoff, D. Knobbe, H. Zwirnmann, A. Swikir, and S. Haddadin.
Connecting Control to Perception: Whole-Body Control Compatible Obstacle-Representations for High-Performance Collision Avoidance. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023.

[40] M. Hamad, D.G. Moreno, H. T. Kussaba, N. Mansfeld, S. Abdolshah, A. Swikir, and S. Haddadin.
Fast braking maneuvers for online robot control with stopping trajectory prediction. IFAC World Congress, 2023, accepted.

[39] H. T. Kussaba, A. Swikir, F. Wu, A. Demerdjieva, G. Kutyniok, and S. Haddadin.
Learning optimal controllers: A dynamical motion primitive approach. IFAC World Congress, 2023.

[38] X. Chen, L. Chen, H. Sadeghian, A. Swikir, and S. Haddadin.
Unified Force-Impedance Controller in the Cloud. IEEE International Conference on Robotics and Automation (ICRA), 2023.

[37] D. Ossadnik, M.C. Yildirim, F. Wu, A. Swikir, S. Abdolsah, and S. Haddadin.
BSA - Bi-Stiffness Actuation for optimally exploiting intrinsic compliance and inertial coupling effects in elastic joint robots. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022.

[36] E. P. Fortunic, A. Swikir, S. Abdolsah, and S. Haddadin.
Comparing Digital Implementations of Torque Control for BLDC Motors with Trapezoidal Back-EMF. American Control Conference (ACC), 2022, pp. 2546-2552.

[35] M. Yildirim, M. Sabaghian, T. Goll, C. Koessler, C. Jaehne, A. Swikir, A. Sarabakha, and S. Haddadin.
Development of a Collaborative Wheeled Mobile Robot: Design Considerations, Drive Unit Torque Control and Preliminary Result. IEEE International Conference on Robotics and Automation (ICRA), 2022, pp. 5769-5775.

[34] L. Chen, A. Swikir, and S. Haddadin.
Drawing Elon Musk: A Robot Avatar for Remote Manipulation. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021, pp. 4244-4251.

[33] R. Laha, J. Vorndamme, L. F.C. Figueredo, Z. Qu, A. Swikir, C. Jahne, and S. Haddadin.
Coordinated motion generation and object placement: A reactive planning and landing approach. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021, pp. 9401-9407.

[32] R. Laha, L. F.C. Figueredo, J. Vrabel, A. Swikir, and S. Haddadin.
Reactive Cooperative Manipulation based on Set Primitives and Circular Fields. IEEE International Conference on Robotics and Automation (ICRA), 2021, pp. 6577-6584.

[31] S. Liu, A. Swikir, and M. Zamani.
Compositional verification of initial-state opacity for switched systems. 59th IEEE Conference on Decision and Control (CDC), 2020, pp. 2146-2151.

[30] M. Shahamat, J. Askari, A. Swikir, N. Noroozi, and M. Zamani.
Construction of continuous abstractions for discrete-time time-delay systems. 59th IEEE Conference on Decision and Control (CDC), 2020, pp. 881-886.

[29] M. Sharifi, A. Swikir, N. Noroozi, and M. Zamani.
Compositional Construction of Abstractions for Infinite Networks of Switched Systems. 59th IEEE Conference on Decision and Control (CDC), 2020, pp. 476-481.

[28] C. Kawan, A. Mironchenko, A. Swikir, N. Noroozi, and M. Zamani.
A spectral small-gain condition for input-to-state stability of infinite networks. IFAC-PapersOnLine, Volume 53, Issue 2, 2020, Pages 5303-5308.

[27] A. Swikir, N. Noroozi, and M. Zamani.
Compositional synthesis of symbolic models for infinite networks. IFAC-PapersOnLine, Volume 53, Issue 2, 2020, Pages 1868-1873.

[26] P. Jagtap, A. Swikir, and M. Zamani.
Compositional construction of control barrier functions for interconnected control systems. Proceedings of the 23rd International Conference on Hybrid Systems: Computation and Control, 2020.

[25] A. Swikir and M. Zamani.
Compositional Abstractions of Interconnected Discrete-Time Switched Systems. 18th European Control Conference (ECC), 2019, pp. 1251-1256.

[24] N. Noroozi, A. Swikir, F. R. Wirth, and M. Zamani.
Compositional construction of abstractions via relaxed small-gain conditions Part II: discrete case. 2018 European Control Conference (ECC), 2018, pp. 76-81.

[23] A. Swikir, A. Girard, and M. Zamani.
From dissipativity theory to compositional synthesis of symbolic models. 2018 Indian Control Conference (ICC), 2018, pp. 30-35. Best student paper award finalist, 2018.

[22] A. Swikir and V. Utkin.
Chattering analysis of conventional and super twisting sliding mode control algorithm. 14th International Workshop on Variable Structure Systems (VSS), 2016, pp. 98-102.

Workshop Papers and Poster Presentations

[21] Y. Wu, L. Chen, I. P. Mahiques, Z. Bing, F. Wu, A. Swikir, A. Knoll, and S. Haddadin.
Robot-to-Robot Object Handover with Dynamic Focus. ICRA 2024 Workshop. Human-Centric Multilateral Teleoperation Augmentation: Perception, Telecommunication, and Coordination.

[20] Y. Wu, F. Wu, L. Chen, K. Chen, S. Schneider, L. Johannsmeier, Z. Bing, F. J. Abu-Dakka, A. Swikir, A. Knoll, and S. Haddadin.
Real-time Contact State Estimation based tactile Insertion Skill. ICRA 2024 Workshop. Whole-body Proxy-Tactile Architectures for Industrial and Service Applications.

[19] L. Chen, K. Sedow, A. Swikir, and S. Haddadin.
Security Challenges in Telepresence Robots: Analysis and Development of Communication Protocols. ICRA 2024 Workshop. Human-Centric Multilateral Teleoperation Augmentation: Perception, Telecommunication, and Coordination.

[18] L. Chen, M. Al Muhsin, F. Wu, A. Swikir, and S. Haddadin.
Dual-Arm Robot Task Learning through Teleoperation using Compliant Motion Primitives. ICRA 2024 Workshop. Exploring Role Allocation in Human-Robot Co-Manipulation.

[17] P. So, R. Laha, A. Swikir, and S. Haddadin.
The Robot Accessible Kitchen: An Argument for General-Purpose Automation with a Modular Bimanual Manipulation Concept. ICRA 2024 Workshop. Bi-manual Manipulation: ON KITCHEN CHALLENGES.

Doctoral Dissertation and Master Thesis

[16] Compositional Synthesis of Symbolic Models for (In)Finite Networks of Cyber-Physical Systems.

[15] Chattering Analysis of the System with Higher Order Sliding Mode Control.

Preprints

[14] H.Q. Le, P. So, A. Abdelrahman, L. Chen, V. L. Mesle, A. Swikir, and S. Haddadin.
Reinforcement Learning for Legged Robots: Truncated Quantile Critics with Path Following Tracking. Submitted for publication, 2024.

[13] A. Abdelrahman, P. So, H. Le, A. Swikir, and S. Haddadin.
Task-oriented Visual Object Pose Estimation for Robot Manipulation: A Modular Approach. Submitted for publication, 2024.

[12] L. Chen, X. Zhao, M. P. S. Campanha, A. Naceri, A. Swikir, and S. Haddadin.
Enhanced Robotic Navigation in Deformable Environments Using Learning from Demonstration and Dynamic Modulation. Submitted for publication, 2024.

[11] P. So, A. Swikir, F. J. Abu-Dakka, and S. Haddadin.
Measuring the Robot-Human Skill Gap: An Electronic Task Board Manipulation Benchmark for Circuit Inspection with a Multimeter. Submitted for publication, 2024.

[10] A. Melone, R.J. Kirschner, D. Müller, A. Swikir, and S. Haddadin.
MonLog: MONotonic-constrained LOGistic Regressions for Automated Safety Curve Design. Submitted for publication, 2024.

[9] Y. Wu, Z. Chen, F. Wu, L. Chen, L. Zhang, Z. Bing, A. Swikir, A. Knoll, and S. Haddadin.
TacDiffusion: Force-domain Diffusion Policy for Precise Tactile Manipulation. Submitted for publication, 2024.

[8] L. Chen, M. Al Muhsin, F. Wu, A. Swikir, and S. Haddadin.
Improved DMPs for Dual-Arm Robot Learning: Online Goal Adaptation and Coupling Refinements. Submitted for publication, 2024.

[7] S. Agrawal, L. Chen, A. Binny, H. T. Kussaba, P. Jagtap, A. Swikir, and S. Haddadin.
Scalable Learning of High-Dimensional Demonstrations with Composition of Linear Parameter Varying Dynamical Systems. Submitted for publication, 2024.

[6] M. C. Yildirim, E. P. Fortunić, D. Ossadnik, V. Rakcevic, V. L. Mesle, A. Swikir, and S. Haddadin.
Scalable Learning of High-Dimensional Demonstrations with Composition of Linear Parameter Varying Dynamical Systems. Submitted for publication, 2024.

[5] H. T. M. Kussaba, L. Chen, A. Swikir, N. Aradhana, F. J. Abu-Dakka, A. Billard, and S. Haddadin.
Learning from demonstration using a null-space gradient flow dynamical system. Submitted for publication, 2024.

[4] H. Q. Le, V. Le Mesle, J. Jung, B. Shin, A. Swikir, and S. Haddadin.
Reinforcement Learning-Driven Path Tracking for Legged Robots: Truncated Quantile Critics with Adaptive Temporal Parameterisation Approach. Submitted for publication, 2024.

[3] J. Ao, F. Wu, Y. Wu, A. Swikir, and S. Haddadin.
LLM as BT-Planner: Leveraging LLMs for Behavior Tree Generation in Robot Task Planning. Submitted for publication, 2024.

[2] A. Aminzadeh, H. T. M. Kussaba, M. Schonger, A. Abdelrahman, F. J. Abu-Dakka, A. Swikir, A. Lavaei, and S. Haddadin.
Learning Safety Barrier Certificates for Obstacle Avoidance Robotic Tasks: A Compositional Approach. Submitted for publication, 2024.

[1] M. Mannone, A. Swikir, P. Fazio, and S. Haddadin.
A Novel Theoretical Approach on Micro-Nano Robotic Networks Based on Density Matrices and Swarm Quantum Mechanics. Submitted for publication, 2024.