Publications

• Ashkan Jasour, "Risk Aware and Robust Nonlinear Planning (rarnop)", Course Notes for MIT 16.S498, rarnop.mit.edu, 2019.

• Ashkan Jasour, "Convex Approximation of Chance Constrained Problems: Application in Systems and Control", School of Electrical Engineering and Computer Science, The Pennsylvania State University, 2016.

• Ashkan Jasour, Necdet Serhat Aybat, and Constantino Lagoa ”Semidefinite Programming For Chance Constrained Optimization Over Semialgebraic Sets”, SIAM Journal on Optimization, 25(3), 1411–1440, 2015.

Risk Aware Optimization and Control- Applications

• Ashkan Jasour, Weiqiao Han, Brian Williams,"Convex Risk Bounded Continuous-Time Trajectory Planning in Uncertain Nonconvex Environments", Robotics: Science and Systems (RSS), 2021. 

• Ashkan Jasour, Weiqiao Han, Brian Williams, "Real-Time Risk-Bounded Tube-Based Trajectory Safety Verification Authors", The 60th IEEE Conference on Decision and Control, 2021.

• Xin Huang, Meng Feng, Ashkan Jasour, Guy Rosman, Brian Williams, "Risk Conditioned Neural Motion Planning" , IEEE/RSJ International Conference on Intelligent Robots and Systems, 2021.

• Ashkan Jasour, X Huang, A Wang, BC William, “Fast Nonlinear Risk Assessment for Autonomous Vehicles Using Learned Conditional Probabilistic Models of Agent Futures", to be appear in Autonomous Robots, 2021.

• Journal Submission “Moment-Based Exact Uncertainty Propagation Through Nonlinear Stochastic Autonomous Systems", 2021.

•  A Wang, X Huang, A Jasour, B Williams, "Fast Risk Assessment for Autonomous Vehicles Using Learned Models of Agent Futures"​, Robotics: Science and System (RSS), 2020. 

• A Wang, A Jasour, B Williams, "Non-Gaussian Chance-Constrained Trajectory Planning for Autonomous Vehicles in the Presence of Uncertain Agents", IEEE Robotics and Automation Letters (RA-L), 2020.

• C Dawson, A Jasour, A Hofmann, B Williams, "Provably Safe Trajectory Optimization in the Presence of Uncertain Convex Obstacles", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020.

• A Wang, A Jasour, B Williams, "Non-Gaussian Chance-Constrained Trajectory Planning for Autonomous Vehicles in the Presence of Uncertain Agents", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020.

• Ashkan Jasour, Brian C. Williams, "Sequential Convex Chance Optimization for Flow-Tube based Control of Probabilistic Nonlinear Systems", IEEE Conference on Decision and Control (CDC), 2019.​

• Ashkan Jasour, Brian C. Williams, "Risk Contours Map for Risk Bounded Motion Planning under Perception Uncertainties", Robotics: Science and System (RSS), Germany, 2019. 

• S Dai, S Schaffert, Ashkan Jasour, A Hofmann, B Williams, "Chance Constrained Motion Planning for High-Dimensional Robots", International Conference on Robotics and Automation (ICRA), Canada, 2019. 

• Ashkan Jasour, Andreas Hofmann, Brian C. Williams, "Moment-Sum-Of-Squares Approach for Fast Risk Estimation in Uncertain Environments", IEEE Conference on Decision and Control, 2018.

• Xin Huang, Ashkan Jasour, Matthew Deyo, Andreas Hofmann, and Brian C. Williams, "Hybrid Risk-Aware Conditional Planning with Applications in Autonomous Vehicles", IEEE Conference on Decision and Control, 2018. 

• S. U. Lee, Ashkan Jasour, A. Hofmann, and B. C. Williams, "Robust Human Activity Monitoring Using Qualitative Spatial Representation and Reasoning ," The 28th International Conference on Automated Planning and Scheduling (ICAPS ) Workshop, 2018.

• Ashkan Jasour, C. Lagoa, "Convex Constrained Semialgebraic Volume Optimization: Application in Systems and Control", (submitted) IEEE Transaction on Automatic Control, 2017, (arXiv:1701.08910)

• Ashkan Jasour, Constantino Lagoa, "Convex Chance Constrained Model Predictive Control", IEEE 55th Conference on Decision and Control (CDC),Las Vegas, USA, 2016

• Ashkan Jasour, C. Lagoa, ”Reconstruction of Support of a Measure From Its Moments”, 53 rd IEEE Conference on Decision and Control, Los Angeles, California, 2014

• Ashkan Jasour, C. Lagoa, ”Convex Relaxations of a Probabilistically Robust Control DesignProblem”, 52st IEEE Conference on Decision and Control, Florence, Italy, 2013

• Ashkan Jasour, C. Lagoa, ”Semidefinite Relaxations of Chance Constrained Algebraic Problems”, 51st IEEE Conference on Decision and Control, Maui, Hawaii, 2012

Adaptive Optimal Control and Robotics

• Ashkan Jasour, M. Farrokhi, ”Adaptive neuro-predictive control for redundant robot manipulatorsin presence of static and dynamic obstacles: A Lyapunov-based approach”, International Journal of Adaptive Control and Signal Processing, Vol 28(3-5), pp. 386-411, 2014

• Ashkan Jasour, M. Farrokhi, ”Fuzzy Improved Adaptive Neuro-NMPC for On-Line PathTracking and Obstacle Avoidance of Redundant Robotic Manipulators”, International Journalof Automation and Control (IJAAC), Vol. 4, No.2, pp. 177-200, 2010

• Ashkan Jasour, M. Farrokhi, ”Control of redundant manipulators in non-stationary environments using neural networks and model predictive control”,IFAC Workshop Intelligent Control Systems (WICS), Sinaia, Romania, September, 2010.

• Ashkan Jasour, M. Farrokhi, ”Path Tracking and Obstacle Avoidance of Redundant RoboticManipulators Using Fuzzy NMPC”, Proc. American Control Conference (ACC), pp.1353-1358,Missouri, 2009

• Ashkan Jasour, M. Farrokhi, ”Adaptive Neuro-NMPC Control of Redundant Manipulatorsfor Path Tracking and Obstacle Avoidance”, Proc. European Control Conference (ECC), pp.2181-2186, Budapest, August, 2009.

• A. M. Jasour, M. Farrokhi, “Obstacle Avoidance and Grasping Moving Objects in Non-Stationary Environments for Redundant Robotic Manipulators Using NMPC”, Proc. 17th Iranian Conference on Electrical Engineering (ICEE 2009), Tehran, Iran, May, 2009. (In English).

Intelligent Circuit Design

• Ashkan Jasour, S. M. Khazraei, A. Rahmati, ”Design of a MIMO Controller for a MultimodalDc-Dc Converter Based on Particle Swarm Optimized Neural Network”, 2nd IEEEInternational Power - Energy Conference (PECON), pp. 224-230, Johor Bahru, Malaysia,2008

• S. M. Khazraei, Ashkan Jasour, A. Rahmati, A. Abrishamifar, ”Improved Large SignalPerfor-mance of Linear Controlled Input-Series and Output-Parallel Dc-Dc Converter UsingGenetic Al- gorithm Optimization”, 11th International Conference on Optimization of Electricaland Electronic, Equipment (OPTIM), pp. 31-36, Romania, May, 2008

•  C. Saeidi, Ashkan Jasour, ”A New Approach for Design of Broadband Microwave Amplifier Using Genetic Algorithm”, Second Iranian Joint Congress on Fuzzy and Intelligent Systems(IFIS), Tehran, Iran, October, 2008

Intelligent Control

• Ashkan Jasour, E. Atashpaz, C. Lucas, ”Vehicle Fuzzy Control Using Imperialist Competitive Algorithm” Second Iranian Joint Congress on Fuzzy and Intelligent Systems (IFIS), Tehran, Iran, October, 2008

• Ashkan Jasour, A. Tamjidi, M. Vakili, ”Particle Swarm Optimization and Genetic Algorithm for Fuzzy Controller Design”, Second Iranian Joint Congress on Fuzzy and Intelligent Systems(IFIS), Tehran, Iran, October, 2008

• Ashkan Jasour, ”Fuzzy Controller Design Using Genetic Algorithm”, 9th Iranian Student Confer- ence on Electrical Engineering (ISCEE), Tehran, Iran, September, 2006

Signal Processing

• Ashkan Jasour, ”ECG Signal Analysis and Noise Elimination Using FIR Filters”, 6th Iranian Student Conference on Electrical Engineering (ISCEE), Tabriz, Iran, September, 2003

Thesis

PhD Thesis: "Convex Approximation of Chance Constrained Problems: Application in Systems and Control", School of Electrical Engineering and Computer Science, The Pennsylvania State University, 2016.

Master Thesis: "Path Tracking and Obstacle Avoidance for Redundant Robotic Manipulators in Stationary and Non-Stationary Environments Using Adaptive Nonlinear Model Predictive Control", Department of Electrical Engineering, Iran University of Science and Technology.

Bachelor Thesis: "Fuzzy Controller Design Using Evolutionary Algorithms", Department of Electrical and Computer Engineering, Tabriz University.