Ali Marzoughi

Engineering Institute of Technology

We study problems of intercepting single and multiple invasive intruders on a boundary of a planar region by employing a team of autonomous unmanned surface vehicles. First, the problem of intercepting a single intruder has been studied and then the proposed strategy has been applied to intercepting multiple intruders on the region boundary. Based...

This paper presents a collision-free navigation control algorithm for a fleet of mobile robots to traverse an unknown obstacle-ridden environment. The proposed leader-follower-based navigation rule guarantees that the robots maintain the minimum-allowed distance from the obstacles while in motion. In this algorithm, the leader plans the safest path...

In this report, we propose a decentralised motion control algorithm for the mobile robots to intercept an intruder entering (k-intercepting) or escaping (e-intercepting) a protected region. In continuation, we propose a decentralized navigation strategy (dynamic-intercepting) for a multi-robot team known as predators to intercept the intruders or i...

The ability of mobile robots to work as a team in hard and hazardous environments and consequently their widespread use in various industries is a strong incentive for researchers to develop practical algorithm and methods for increasing the performance of mobile robots. The ability of autonomous decision-making for navigation and path planning is...

We proposed a decentralized formation control method and a path planning for a mobile robotic network to avoid an obstacle in an environment without the possibility of collision between the teammates. We applied the leader-follower pattern where the leader estimates the safest path to maintain the minimum allowable distance with the obstacle while...

This paper presents an intelligent game based decision-making algorithm (IGD) for a fleet of mobile robots to maximize the probability of detection in a limited area. The agents have the minimum communication or even no communication result from a jamming attack by a given hostile. Thus, we proved that the proposed diagonal initial formation result...

In this paper, the particle swarm optimization (PSO) technique is used in optimising the proportional integral derivative (PID) controller parameters for the exhaust temperature control of a gas turbine system. The performance of the PID controller whose parameters are tuned based on the PSO method (PSO-PID) is compared with the conventional PID (C...

Classical tuning methods of Proportional, Integral, and Derivative (PID) controller, such as the Ziegler-Nichols and Cohen-Coon tuning formula are able to tune the PID controller easily, when used in controlling linear systems. However, experimental studies have shown that these conventional methods cause unsatisfactory performance when controlling...

Usability of the e-government portal is a crucial factor that Function Point Analysis (FPA) is most used technique for estimating the size of a computerized business information system which was developed by Allan Albrecht. Various studies proposed new methods to extent FPA algorithm; mainly they tried to make it more precise but they are based on...

In this paper, the particle swarm optimization (PSO) technique is used in optimising the proportional integral derivative (PID) controller parameters for the exhaust temperature control of a gas turbine system. The performance of the PID controller whose parameters are tuned based on the PSO method (PSO-PID) is compared with the conventional PID (C...