Alireza Zolanvari

Amirkabir University of Technology | TUS · Department of Electrical Engineering

This paper proposes an iterative distributionally robust model predictive control (MPC) scheme to solve a risk-constrained infinite-horizon optimal control problem. In each iteration, the algorithm generates a trajectory from the starting point to the target equilibrium state with the aim of respecting risk constraints with high probability (that e...

This paper focuses on solving a data-driven distributionally robust optimization problem over a network of agents. The agents aim to minimize the worst-case expected cost computed over a Wasserstein ambiguity set that is centered at the empirical distribution. The samples of the uncertainty are distributed across the agents. Our approach consists o...

This paper considers a risk-constrained infinite-horizon optimal control problem and proposes to solve it in an iterative manner. Each iteration of the algorithm generates a trajectory from the starting point to the target equilibrium state by implementing a distributionally robust risk-constrained model predictive control (MPC) scheme. At each ite...

3 Minutes Oral Presentation at FIRA RoboWorld Cup and Summit 2019

This paper is an overview of a report on migration to a hybrid approach (a combination of monolithic and multi-agent) from monolithic architecture in an autonomous robotic soccer team with performance and simplicity in mind, and evaluate some major factors from both aspects of software engineering and artificial intelligence that improved or impair...

Penalty kick procedure is one of the most challenging tasks in the robotic soccer games. This study was aimed to solve the problem of penalty kick goalkeeping for RoboCup Small Size soccer robots. Two different approaches were presented and compared to each other. The first approach was a simple hard-coded algorithm and the second one was based on...

PyCM is a multi-class confusion matrix library written in Python that supports both input data vectors and direct matrix, and a proper tool for post-classification model evaluation that supports most classes and overall statistics parameters. PyCM is the swiss-army knife of confusion matrices, targeted mainly at data scientists that need a broad ar...