Site Management

Publications

English Conferences

1. S. Gachter, A. Harati, and R. Siegwart, “Incremental Object Part Detection toward Object Classification in a Sequence of Noisy Range Images”, Proc. IEEE Int. Conf. Robotics and Automation (ICRA’2008), Pasadena, CA, USA, 2008.

2. A. Harati, and R. Siegwart, "A New Approach to Segmentation of 2D Range Scans into Linear Regions",  Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS’07) , San Diego, USA, Oct.-Nov. 2007, pp. 2083-2088.

3. V. Nguyen, A. Harati, and R. Siegwart, "A Lightweight SLAM Algorithm using Orthogonal Planes for Indoor Mobile Robotics", Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS’07), San Diego, USA, Oct.-Nov. 2007, pp. 658-663.

4. D. Scaramuzza, A. Harati, and R. Siegwart, "Extrinsic Self Calibration of a Camera and a 3D Laser Range Finder from Natural Scenes", Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS’07), San Diego, USA, Oct.-Nov. 2007, pp. 4164-4169.

5. A. Harati, and R. Siegwart, "Orthogonal 3D-SLAM for Indoor Environments Using Right Angle Corners", Proc. 3rd European Conf. Mobile Robotics (ECMR’07), Freiburg, Germany, Sep. 2007.

6. S. Vasudevan, A. Harati, and R. Siegwart, "A Bayesian Approach to Conceptualization and Place Classification: Using the Number of Occurrences of Objects to Infer Concepts", Proc. 3rd European Conf. Mobile Robotics (ECMR’07), Germany, Sep. 2007.

7. A. Harati, S. Gachter, and R. Siegwart, “Fast Range Image Segmentation for Indoor 3D-SLAM”, in Proc. 6th IFAC Symposium on Intelligent Autonomous Vehicles (IAV’07), Toulouse, France, Sep. 2007.

8. V. Nguyen, A. Harati, N. Tomatis, A. Martinelli, and R. Siegwart, "Orthogonal SLAM: a Step toward Lightweight Indoor Autonomous Navigation", Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS’06), Beijing, China, 2006.

9. A. Baghani, M. Nili Ahmadabadi, and A. Harati, “Kinematics Modeling of a Wheel-Based Pole Climbing Robot (UT-PCR)”, Proc. IEEE Int. Conf. Robotics and Automation (ICRA’2005), Barcelona, Spain, April 2005, pp.2099-2104.

10. B. Yazdani, M. Nili Ahmadabadi, A. Harati, H. Moaveni and N. Soltani, “Design and Development of a Pole Climbing Robot Mechanism”, Proc. IEEE Int. Conf. Mechatronics and Robotics, Aachen, Germany, Sep. 2004.

11. A. Harati, M. Nili Ahmadabadi, and B. N. Araabi, “Knowledge Based Multiagent Credit Assignment for Independent Learning Agents”,IROS’03 Workshop on Learning and Evolution in Multiagent Systems, Oct. 2003, Las Vegas, USA.

12. A. Harati, and M. Nili Ahmadabadi, “Certainty and Expertness-Based Credit Assignment for Cooperative Q‑Learning Agents with an AND-Type Task”, Proc. 9th Int. Conf. Neural Information Processing (ICONIP’02), Singapore, Nov. 2002, pp. 306-310.

13. A. Harati, and M. Nili Ahmadabadi, “Multiagent Credit Assignment in a Team of Cooperative Q‑Learning Agents with a Parallel Task”, Proc. 1stEurope-Asian Workshop: Agents for Information Management (AIM’02), Shiraz, Iran, Oct. 2002, pp. 301-305.

14. A. Harati, and M. Nili Ahmadabadi, “A New Approach to Credit Assignment in a Team of Cooperative Q‑Learning Agents”, in Proc. IEEE Int. Conf. Systems, Man & Cybernetics (SMC’02), vol. 4, Hammamet Tunisia, Oct. 2002


English Journals and Book Chapter

1. A. Harati, M. Nili Ahmadabadi, and B. N. Araabi, “Knowledge Based Multiagent Credit Assignment: A Study on Task Type and Critic Information”, IEEE Systems Journal, vol. 1, no. 1, September 2007, pp. 55-67.

2. S. Vasudevan, S. Gachter, A. Harati, and R. Siegwart, “A Hierarchical Concept-oriented Representation for Spatial Cognition in Mobile Robots”, 50 Years  of Artificial Intelligence, Springer Lecture Notes in Artificial Intelligence (LNAI), vol. 4850, Springer Press, August 2007, pp. 244-257.

3. A. Harati, and M. Nili Ahmadabadi, “Experimental Analysis of Knowledge Based Multiagent Credit Assignment”, in Neural Information Processing Research and Development, editors: J. C. Rajapakse, L. Wang , in Studies in Fuzziness and Soft Computing Series, Springer Verlag, vol. 152, May 2004, pp. 437–459. (ISBN: 3-540-21123-3)

Thesises

1. A. Harati, “Simultaneous Localization and Mapping for Structured Indoor Environments”, PhD. Dissertation, Swiss Federal Institute of Technology in Zurich (ETHZ), No. 17938, August 2008.

2. A. Harati, “A Study on Credit Assignment among Cooperative and Independent Reinforcement Learning Agents”, Master Thesis (in Persian), University of Tehran, August 2003.

3. A. Harati, “Design, Implementation and Control of a Ball-Collector Mobile Robot for the First Iranian Robot Contest”, Bachelor Thesis (in Persian), Amirkabir University of technology, 2000.