Iman Shames

Gradient free cooperative seeking of a moving source

E Michael, C Manzie, TA Wood, D Zelazo, I Shames

Journal article  |  2023  |  Automatica

In this paper, we consider the optimisation of a time varying scalar field by a network of agents with no gradient information. We..

The graph structure of two-player games.

Oliver Biggar, Iman Shames

Journal article  |  2023  |  Sci Rep

In this paper, we analyse two-player games by their response graphs. The response graph has nodes which are strategy profiles, wit..

Risk bounded nonlinear robot motion planning with integrated perception & control

Venkatraman Renganathan, Sleiman Safaoui, Aadi Kothari, Benjamin Gravell, Iman Shames, Tyler Summers

Journal article  |  2023  |  ARTIFICIAL INTELLIGENCE

Robust autonomy stacks require tight integration of perception, motion planning, and control layers, but these layers often inadeq..

An algorithm for the selection of linearisation points in non-linear systems: a diesel air-path case study

Saeed Ahmadizadeh, Alejandro Maass, Chris Manzie, Iman Shames

Journal article  |  2022  |  INTERNATIONAL JOURNAL OF CONTROL

One typical approach to implement model predictive control in relatively fast sample rate applications utilises linearised plant m..

Sensitivity analysis for bottleneck assignment problems

Elad Michael, Tony A Wood, Chris Manzie, Iman Shames

Journal article  |  2022  |  EUROPEAN JOURNAL OF OPERATIONAL RESEARCH

In assignment problems, decision makers are often interested in not only the optimal assignment, but also the sensitivity of the o..

A greedy and distributable approach to the Lexicographic Bottleneck Assignment Problem with conditions on exactness

M Khoo, TA Wood, C Manzie, I Shames

Journal article  |  2022  |  Automatica

Solving the Lexicographic Bottleneck Assignment Problem (LexBAP) typically relies on centralised computation with order O(n4) comp..

On Modularity in Reactive Control Architectures, with an Application to Formal Verification

Oliver Biggar, Mohammad Zamani, Iman Shames

Journal article  |  2022  |  ACM TRANSACTIONS ON CYBER-PHYSICAL SYSTEMS

Modularity is a central principle throughout the design process for cyber-physical systems. Modularity reduces complexity and incr..

MITL Verification Under Timing Uncertainty

Daniel Selvaratnam, Michael Cantoni, JM Davoren, Iman Shames

Book Chapter  |  2022  |  Lecture Notes in Computer Science

A Metric Interval Temporal Logic (MITL) verification algorithm is presented. It verifies continuous-time signals without relying o..

A Logistic Regression Approach to Field Estimation Using Binary Measurements

Alex S Leong, Mohammad Zamani, Iman Shames

Journal article  |  2022  |  IEEE SIGNAL PROCESSING LETTERS

In this letter, we consider the problem of field estimation using binary measurements. Previous work has formulated the problem as..

TRACKING AND REGRET BOUNDS FOR ONLINE ZEROTH-ORDER EUCLIDEAN AND RIEMANNIAN OPTIMIZATION

Alejandro Maass, Chris Manzie, Dragan Nesic, Jonathan H Manton, Iman Shames

Journal article  |  2022  |  SIAM JOURNAL ON OPTIMIZATION

We study numerical optimization algorithms that use zeroth-order information to minimize time-varying geodesically convex cost fun..