Farshad Arvin

Farshad Arvin
The University of Manchester · School of Electrical and Electronic Engineering

PhD

About

106
Publications
49,396
Reads
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1,344
Citations
Additional affiliations
July 2017 - present
Istituto Italiano di Tecnologia
Position
  • Researcher
July 2015 - present
University of Mancherster
Position
  • PostDoc Position
January 2014 - December 2014
Huazhong University of Science and Technology
Position
  • Research Assistant

Publications

Publications (106)
Conference Paper
Full-text available
View Video Presentation: https://doi.org/10.2514/6.2022-4062.vid Deployment of a swarm, or more generally a multi-agent robotic system, provides several advantages over a single-agent robotic system including robustness, scalability, and adaptability. In fact, when a swarm controller is designed adequately, it can provide cost-effective, fault-tole...
Article
Full-text available
This paper proposes a consensus-based formation tracking scheme for multi-robot systems utilizing the Negative Imaginary (NI) theory. The proposed scheme applies to a class of networked robotic systems that can be modelled as a group of single integrator agents with stable uncertainties connected via an undirected graph. NI/SNI property of networke...
Article
Full-text available
Honey bees live in colonies of thousands of individuals, that not only need to collaborate with each other but also to interact intensively with their ecosystem. A small group of robots operating in a honey bee colony and interacting with the queen bee, a central colony element, has the potential to change the collective behavior of the entire colo...
Article
Full-text available
Coordination of unmanned aerial vehicle (UAV) swarms has received significant attention due to its wide practical applications including search and rescue, cooperative exploration and target surveillance. Motivated by the flexibility of the UAVs and the recent advancement of graph-based cooperative control strategies, this paper aims to develop a f...
Preprint
Full-text available
The recent advancement of Deep Reinforcement Learning (DRL) contributed to robotics by allowing automatic controller design. Automatic controller design is a crucial approach for designing swarm robotic systems, which require more complex controller than a single robot system to lead a desired collective behaviour. Although DRL-based controller des...
Conference Paper
Full-text available
View Video Presentation: https://doi.org/10.2514/6.2022-0268.vid This paper aims to develop a method to mainly determine the 2D planar position of an aerial robot using just one horizontal layer from a laser scanner sensor onboard. Our proposed approach employs a modified scan matching method based on an Iterative Closest Point (ICP) algorithm. The...
Article
Full-text available
Autonomous vehicles have been highlighted as a major growth area for future transportation systems and the deployment of large numbers of these vehicles is expected when safety and legal challenges are overcome. To meet the necessary safety standards, effective collision avoidance technologies are required to ensure that the number of accidents are...
Article
Full-text available
Flocking is a social animals’ common behaviour observed in nature. It has a great potential for real-world applications such as exploration in agri-robotics using low-cost robotic solutions. In this paper, an extended model of a self-organised flocking mechanism using heterogeneous swarm system is proposed. The proposed model for swarm robotic syst...
Chapter
Full-text available
Coordination of mobile robot teams has attracted significant attention in the area of robotics research. As one of the most important techniques used in the multi-robot systems, coverage has shown great potential to be applied to many real-world applications. In this paper, we aim to provide a novel path planning method for multi-robot coverage wit...
Chapter
Full-text available
Mapping a confined space with a drone-based system becomes challenging when vision sensors cannot be used due to environmental constraints. This paper presents a novel scan-matching approach based on an Iterative Closest Point algorithm that uses low-rate and low-dense scans from a LiDAR. The proposed technique only employs the horizontal layer fro...
Chapter
Self-organised flocking behaviour, an emergent collective motion, appears in various physical and biological systems. It has been widely utilised to guide the swarm robotic system in different applications. In this paper, we developed a self-organised flocking mechanism for the homogeneous robotic swarm, which can achieve the collective motion with...
Article
Full-text available
The accuracy of stockpile estimations is of immense criticality to process optimisation and overall financial decision making within manufacturing operations. Despite well-established correlations between inventory management and profitability, safe deployment of stockpile measurement and inspection activities remain challenging and labour-intensiv...
Conference Paper
Full-text available
Manufacturing operations such as cement plants are strongly dependent on stockpiles that serve as inputs and outputs at different stages of the production process. Estimating the stockpile volume is challenging in such environments due to high levels of dust, poor visibility, and unevenness of the stock shapes. This work proposes a simple, yet effe...
Article
Full-text available
In this paper, a novel 3-degree-of-freedom (DOF) nanopositioner was investigated in order to position objects with nanometer scale accuracy. Nanopositioners are used in a variety of real-world applications, e.g. biomedical technology and nanoassembly. In this work, a nanopositioner was firstly designed with the flexure diaphragm guider, capacitive...
Article
Full-text available
Cooperative control of multi-robot systems (MRS) has earned significant research interest over the past two decades due to its potential applications in multidisciplinary engineering problems. In contrast to a single specialized robot, MRS can be designed to offer flexibility, reconfigurability, robustness to faults and cost-effectiveness in solvin...
Article
Full-text available
There are many potential applications of swarm robotic systems in real-world scenarios. In this paper, formation-containment controller design for single-integrator and double-integrator swarm robotic systems with input saturation is investigated. The swarm system contains two types of robots— leaders and followers . A novel control protocol and an...
Article
Full-text available
Coordination of robot swarms has received significant research interest over the last decade due to its wide real-world applications including precision agriculture, target surveillance, planetary exploration, etc. Many of these practical activities can be formulated as a formation tracking problem. This brief aims to design a robust control strate...
Conference Paper
Full-text available
Here we present the novel concept of a method called Ecosystem Hacking, in which the stability of decaying ecosystems is aimed to be supported by the introduction of biomimetic robots that interact with their natural counterparts. We briefly discuss previous research projects that established such robot-organism interactions with plants or animals...
Article
Full-text available
This brief proposes a bearing-only collision-free formation coordination strategy for networked heterogeneous robots, where each robot only measures the relative bearings of its neighbors to achieve cooperation. Different from many existing studies that can only guarantee global asymptotic stability (i.e., the formation can only be formed over an i...
Chapter
Full-text available
Using robots for exploration of extreme and hazardous environments has the potential to significantly improve human safety. For example, robotic solutions can be deployed to find the source of a chemical leakage and clean the contaminated area. This paper demonstrates a proof-of-concept bio-inspired exploration method using a swarm robotic system b...
Chapter
Flocking is a common behaviour observed in social animals such as birds and insects, which has received considerable attention in swarm robotics research studies. In this paper, a homogeneous self-organised flocking mechanism was implemented using simulated robots to verify a collective model. We identified and proposed solutions to the current gap...
Chapter
Swarm robotics is mainly inspired by the collective behaviour of social animals in nature. Among different behaviours such as foraging and flocking performed by social animals; aggregation behaviour is often considered as the most basic and fundamental one. Aggregation behaviour has been studied in different domains for over a decade. In most of th...
Conference Paper
Full-text available
Integrated manufacturing systems such as cement processes are heavily dependent on stockpiles of different materials that serve as inputs to the different stages of production. Accurate estimation of material volume contained in these stockpiles is central to process profitability and waste elimination/minimisation. However, accurate estimation of...
Preprint
Full-text available
This paper presents a sensor-level mapless collision avoidance algorithm for use in mobile robots that map raw sensor data to linear and angular velocities and navigate in an unknown environment without a map. An efficient training strategy is proposed to allow a robot to learn from both human experience data and self-exploratory data. A game forma...
Article
Full-text available
Autonomous exploration is an important application of multi-vehicle systems, where a team of networked robots are coordinated to explore an unknown environment collaboratively. This technique has earned significant research interest due to its usefulness in search and rescue, fault detection and monitoring, localization and mapping, etc. In this pa...
Article
The robotic shepherding problem has earned significant research interest over the last few decades due to its potential application in precision agriculture. In this paper, we first modeled the sheep flocking behavior using adaptive protocols and artificial potential field methods. Then we designed a coordination algorithm for the robotic dogs. An...
Article
Swarm Intelligence (SI) is a popular multi-agent framework that has been originally inspired by swarm behaviors observed in natural systems, such as ant and bee colonies. In a system designed after swarm intelligence, each agent acts autonomously, reacts on dynamic inputs, and, implicitly or explicitly, works collaboratively with other swarm member...
Article
Full-text available
Swarm robotics focuses on decentralised control of large numbers of simple robots with limited capabilities. Decentralised control in a swarm system requires a reliable communication link between the individuals that is able to provide linear and angular distances between the individuals-Range & Bearing. This study presents the development of an op...
Article
Full-text available
Pheromones are chemical substances released into the environment by an individual animal, which elicit stereotyped behaviours widely found across the animal kingdom. Inspired by the effective use of pheromones in social insects, pheromonal communication has been adopted to swarm robotics domain using diverse approaches such as alcohol, RFID tags an...
Article
Full-text available
The piezoelectric actuator is indispensable for driving the micro-manipulator. In this paper, a simplified interval type-2 (IT2) fuzzy system is proposed for hysteresis modelling and feedforward control of a piezoelectric actuator. The partial derivative of the output of IT2 fuzzy system with respect to the modelling parameters can be analytically...
Article
Full-text available
Automatic cruise control of a platoon of multiple connected vehicles in an automated highway system has drawn significant attention of the control practitioners over the past two decades due to its ability to reduce traffic congestion problems, improve traffic throughput and enhance safety of highway traffic. This paper proposes a two-layer distrib...
Article
Full-text available
Threats to global food security from multiple sources, such as population growth, ageing farming populations, meat consumption trends, climate-change effects on abiotic and biotic stresses, the environmental impacts of agriculture are well publicised. In addition, with ever increasing tolerance of pest, diseases and weeds there is growing pressure...
Preprint
Full-text available
Using robots for exploration of extreme and hazardous environments has the potential to significantly improve human safety. For example, robotic solutions can be deployed to find the source of a chemical leakage and clean the contaminated area. This paper demonstrates a proof-of-concept bio-inspired exploration method using a swarm robotic system,...
Chapter
The need for nuclear decommissioning is increasing globally, as power stations and other facilities utilising nuclear reaches the end of their operational life. Currently the majority of decommissioning tasks are carried out by workers in protective air fed suits, which is slow, expensive and dangerous. The work presented here is the early stages i...
Chapter
Full-text available
Collective motion is one of the most fascinating phenomena observed in nature. In the last decade, it aroused so much attention in physics, control and robotics fields. In particular, many studies have been done in swarm robotics related to collective motion, also called flocking. In most of these studies, robots use orientation and proximity of th...
Article
Full-text available
Mobile robots are playing a significant role in Higher Education science and engineering teaching, as they offer a flexible platform to explore and teach a wide-range of topics such as mechanics, electronics and software. Unfortunately the widespread adoption is limited by their high cost and the complexity of user interfaces and programming tools....
Conference Paper
Full-text available
Collective motion is one of the most fascinating phenomena observed in nature. In the last decade, it aroused so much attention in physics, control and robotics fields. In particular, many studies have been done in swarm robotics related to collective motion, also called flocking. In most of these studies, robots use orientation and proximity of th...
Preprint
Full-text available
Collective motion is one of the most fascinating phenomena observed in the nature. In the last decade, it aroused so much attention in physics, control and robotics fields. In particular, many studies have been done in swarm robotics related to collective motion, also called flocking. In most of these studies, robots use orientation and proximity o...
Preprint
Full-text available
This paper proposes an intuitive human-swarm interaction framework inspired by our childhood memory in which we interacted with living ants by changing their positions and environments as if we were omnipotent relative to the ants. In virtual reality, analogously, we can be a super-powered virtual giant who can supervise a swarm of mobile robots in...
Article
Full-text available