{"id":204,"date":"2018-02-28T13:14:45","date_gmt":"2018-02-28T18:14:45","guid":{"rendered":"https:\/\/carleton.ca\/space-robotics\/?page_id=204"},"modified":"2023-02-03T11:12:01","modified_gmt":"2023-02-03T16:12:01","slug":"publications","status":"publish","type":"page","link":"https:\/\/carleton.ca\/space-robotics\/publications\/","title":{"rendered":"Publications"},"content":{"rendered":"

Submitted Journal Publications:<\/strong><\/span><\/p>\n

    \n
  1. H. Samei and R. Chhabra, \u201cFast Recursive Dynamics of Soft Manipulators with Discrete Joints on SE(3),” IEEE Transactions on Robotics, under review, submitted January 2023.<\/li>\n
  2. M. Zarei, M. R. Mottaghi, and R. Chhabra, \u201cOptimal Sequential Information Fusion in Multi-Sensor Networks: A Case of Slip Estimation in Wheeled Mobile Robots,” IEEE Transactions on Control Systems Technology, under review, submitted January 2023.<\/li>\n
  3. P. Rousso and R. Chhabra, \u201cSingularity-Robust Full-Pose Workspace Control of Space Manipulators with Non-Zero Momentum,\u201d Acta Astronautica, December 2022. \"\"<\/a><\/li>\n
  4. M. R. Mottaghi, R. Chhabra, and W. Huang, \u201cFast Traction Control of Rovers on Prescribed Dynamic Trajectories with Wheel-Fighting Consideration<\/a>,\u201d IEEE Transactions on Systems, Man and Cybernetics: Systems, under review, submitted August 2022. \"\"<\/a><\/li>\n
  5. M. Pham, A. D\u2019Angiulli*, M. M. Dehnavi*, and R. Chhabra, \u201cFrom Brain Models to Neurorobotic Embodied Cognition: A Spiking Tour of Biologically Plausible Neural Processes,” Cognitive Computation, under review, submitted May 2022.<\/li>\n
  6. M. Golestani, R. Chhabra and M. Esmailzadeh, \u201cFinite-time Nonlinear H\u221e Control of Robot Manipulators with Guaranteed Prescribed Performance,” IEEE Control Systems Letters, under review, submitted November 2022. \"\"<\/a><\/li>\n
  7. B. M. Moghaddam and R. Chhabra, \u201cSingularity-Free Lagrange-Poincar\u00e9 Equations on Lie Groups for Vehicle-Manipulator Systems,\u201d IEEE Transactions on Robotics, under review, minor revision November 2022. \"\"<\/a><\/li>\n<\/ol>\n

    Refereed Journal Publications:<\/strong><\/span><\/p>\n

      \n
    1. M. Zarei and R. Chhabra, “Advancements in Autonomous Mobility of Planetary Wheeled Mobile Robots: A Review,<\/a>” Frontiers in Space Technologies, in press, 2022. \"\"<\/a><\/li>\n
    2. S. Samsam and R. Chhabra, “Nonlinear Model Predictive Control of J2-Perturbed Impulsive Transfer Trajectories in Long-Range Rendezvous Missions,” Aerospace Science and Technology<\/a>, 132, 2023. \"\"<\/a><\/li>\n
    3. M. R. Mottaghi and R. Chhabra, “Robust Optimal Output-tracking Control of Constrained Mechanical Systems with Application to Autonomous Rovers<\/a>,” IEEE Transactions on Control Systems Technology, 2022.\u00a0\"\"<\/a><\/li>\n
    4. S. Samsam and R. Chhabra, “Multi-impulse Smooth Trajectory Design for Long-range Rendezvous with an Orbiting Target using Multi-objective Non-dominated Sorting Genetic Algorithm<\/a>,” Aerospace Science and Technology, 120, 2022. \"\"<\/a><\/li>\n
    5. M. Zarei and R. Chhabra, “Explicit Recursive Track-to-Track Fusion Rules for Nonlinear Multi-Sensor Systems<\/a>,” IEEE Control Systems Letters, 6, 2022. \"\"<\/a><\/li>\n
    6. B. M. Moghaddam, W. Huang, L. Steiginga and R. Chhabra, “Roll Dynamics of Long Combination Semi-Trailers with Steerable Axles<\/a>,” International Journal of Vehicle Performance, 8(2-3), 2022. \"\"<\/a><\/li>\n
    7. B. M. Moghaddam and R. Chhabra, “On the Guidance, Navigation and Control of In-orbit Space Robotic Missions: A Survey and Prospective Vision<\/a>,” Acta Astronautica, vol. 184, pp. 70-100, 2021. \"\"<\/a><\/li>\n
    8. R. Chhabra, M. R. Emami and Y. Karshon, “Reduction of Hamiltonian Mechanical Systems with Affine Constraints: A Geometric Unification<\/a>,” ASME Journal of Computational and Nonlinear Dynamics, 12(2): 021007, 2017. \"\"<\/a><\/li>\n
    9. L. M. Bates, R. Chhabra and J. Sniatycki, “Elastica as a Dynamical System<\/a>,” Journal of Geometry and Physics, vol. 110, pp. 348-381, 2016. \"\"<\/a><\/li>\n
    10. R. Chhabra and M. R. Emami, “Symplectic Reduction of Holonomic Open-chain Multi-body Systems with Constant Momentum<\/a>,” Journal of Geometry and Physics, vol. 89, pp. 82-110, 2015. \"\"<\/a><\/li>\n
    11. R. Chhabra and M. R. Emami, “A Unified Approach to Input-output Linearization and Concurrent Control of Underactuated Open-chain Multi-body Systems with Holonomic and Nonholonomic Constraints<\/a>,” Journal of Dynamical and Control Systems, vol. 22(1), pp. 129-168, 2016. \"\"<\/a><\/li>\n
    12. R. Chhabra and M. R. Emami, “Nonholonomic Dynamical Reduction of Open-chain Multi-body Systems: A Geometric Approach<\/a>,” Mechanism and Machine Theory, vol. 82, pp. 231-255, 2014. \"\"<\/a><\/li>\n
    13. R. Chhabra and M. R. Emami, “A Linguistic Approach to Concurrent Design<\/a>,” Journal of Intelligent and Fuzzy Systems, vol. 28, no. 5, pp. 1985-2001, 2015. \"\"<\/a><\/li>\n
    14. R. Chhabra and M. R. Emami, “A Holistic Approach to Concurrent Engineering and Its Application to Robotics<\/a>,” Concurrent Engineering: Research and Applications, vol. 22, no. 1, pp. 48-61, 2014. \"\"<\/a><\/li>\n
    15. R. Chhabra and M. R. Emami, “A Generalized Exponential Formula for Forward and Differential Kinematics of Open-chain Multi-body Systems<\/a>,” Mechanism and Machine Theory, vol. 73, pp. 61-75, 2014. \"\"<\/a><\/li>\n
    16. R. Chhabra and M. R. Emami, “A Holistic Concurrent Design Approach to Robotics using Hardware-in-the-loop Simulation<\/a>,” Mechatronics, vol. 23, no. 3, pp. 335-345, April 2013. \"\"<\/a><\/li>\n
    17. R. Chhabra and M. R. Emami, “Holistic System Modeling in Mechatronics<\/a>,” Mechatronics, vol. 21, no. 1, pp. 166-175, February 2011. \"\"<\/a><\/li>\n<\/ol>\n

      Peer-reviewed Conference Proceedings:<\/strong><\/span><\/p>\n

        \n
      1. H. Y. Sze, and Robin Chhabra, \u201cTrajectory Generation for Space Manipulators Capturing Moving Targets Using Transfer Learning,” IEEE Aerospace Conference, accepted, March 4-11 2023.<\/li>\n
      2. M. R. Mottaghi, R. Chhabra and W. Huang*, \u201cHigh-fidelity Software-in-the-loop Simulation of a Six-wheel Lunar Rover for Control Design,” IEEE Aerospace Conference, accepted, March 4-11 2023.<\/li>\n
      3. F. Abdollahi and R. Chhabra, \u201cActuator Fault Recovery in Formation Control of Uncertain Multi-agent Systems on the Lie Group SE(3),” to appear in American Control Conference, Atlanta, GA, USA, June 8-10 2022.<\/li>\n
      4. P. Rousso and R. Chhabra, \u201cWorkspace Control of Free-Floating Space Manipulators with Non-Zero Momentum on Lie Groups,” to appear in American Control Conference, Atlanta, GA, USA, June 8-10 2022.<\/li>\n
      5. P. Rousso, S. Samsam and R. Chhabra, “A Mission Architecture for On-orbit Servicing Industrialization<\/a>,” IEEE Aerospace Conference, Big Sky, Montana, USA, March 6-13, 2021.<\/li>\n
      6. S. Samsam and R. Chhabra, “Multi-impulse Shape-based Trajectory Optimization for Target Chasing in On-orbit Servicing Missions<\/a>,” IEEE Aerospace Conference, Big Sky, Montana, USA, March 6-13, 2021.<\/li>\n
      7. R. Chhabra, “Dynamical Reduction and Output-tracking Control of the Lunar Exploration Light Rover (LELR)<\/a>,” IEEE Aerospace Conference, Big Sky, Montana, USA, March 5-12, 2016.<\/li>\n
      8. R. Chhabra, M.R. Emami, “A Mechatronic Approach to Robot Manipulator Design using Hardware-in-the-loop Simulation,” RSI\/ISM International Conference on Robotics and Mechatronics (ICRoM2013), Tehran, Iran, February 13-15, 2013.<\/li>\n
      9. R. Chhabra and M. R. Emami, “Concurrent Synthesis of Robot Manipulators using Hardware-in-the-loop Simulation<\/a>,” IEEE International Conference on Robotics and Automation (ICRA), Kobe, Japan, May 12-17, 2009.<\/li>\n
      10. R. Chhabra and M. R. Emami, “Linguistic Mechatronics<\/a>,” IEEE\/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Xian, China, July 2-5, 2008.<\/li>\n<\/ol>\n

        Book Chapters:<\/strong><\/span><\/p>\n

          \n
        1. M. R. Emami and R. Chhabra, “Concurrent Engineering of Robot Manipulators<\/a>,” In: Robot Manipulators New Achievements, A. Lazinica and h. Kawai (Ed.), ISBN: 978-953-307-090-2, InTech, pp. 211-240, April 2010.<\/li>\n<\/ol>\n

          Dissertations:<\/strong><\/span><\/p>\n

            \n
          1. R. Chhabra, “A Unified Geometric Framework for Kinematics, Dynamics and Concurrent Control of Free-base, Open-chain Multi-body Systems with Holonomic and Nonholonomic Constraints<\/a>,” PhD Thesis, University of Toronto Institute for Aerospace Studies, Canada, December 2013.<\/li>\n
          2. R. Chhabra, “Concurrent Design of Reconfigurable Robots using a Robotic Hardware-in-the-loop Simulation<\/a>,” MASc Thesis, University of Toronto Institute for Aerospace Studies, Canada, September 2008.<\/li>\n
          3. R. Chhabra, “A Fuzzy Control Strategy for Tail-sitters,” BASc Thesis, Sharif University of Technology, Iran, June 2006.<\/li>\n<\/ol>\n","protected":false},"excerpt":{"rendered":"

            Submitted Journal Publications: H. Samei and R. Chhabra, \u201cFast Recursive Dynamics of Soft Manipulators with Discrete Joints on SE(3),” IEEE Transactions on Robotics, under review, submitted January 2023. M. Zarei, M. R. Mottaghi, and R. Chhabra, \u201cOptimal Sequential Information Fusion in Multi-Sensor Networks: A Case of Slip Estimation in Wheeled Mobile Robots,” IEEE Transactions on […]<\/p>\n","protected":false},"author":5,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"_relevanssi_hide_post":"","_relevanssi_hide_content":"","_relevanssi_pin_for_all":"","_relevanssi_pin_keywords":"","_relevanssi_unpin_keywords":"","_relevanssi_related_keywords":"","_relevanssi_related_include_ids":"","_relevanssi_related_exclude_ids":"","_relevanssi_related_no_append":"","_relevanssi_related_not_related":"","_relevanssi_related_posts":"","_relevanssi_noindex_reason":"","_mi_skip_tracking":false,"_exactmetrics_sitenote_active":false,"_exactmetrics_sitenote_note":"","_exactmetrics_sitenote_category":0,"footnotes":"","_links_to":"","_links_to_target":""},"yoast_head":"\nPublications - Autonomous Space Robotics and Mechatronics Laboratory<\/title>\n<meta name=\"description\" content=\"Submitted Journal Publications: H. 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