Ehsan Hashemi, PhD, PEng, IEEE Senior Member

Area of Study / Keywords

Automation and Robotics Control Theory Human-Robot Interaction Cooperative Autonomous Systems Autonomous Navigation

About

Education and Positions:

• Research Assistant Professor, University of Waterloo (2018-2020)
• Visiting Professor, KTH Royal Institute of Technology, School of Electrical Eng. & Computer Science (Jan.-Sep. 2019)
• Visiting Professor, Karlsruhe Institute of Technology (Aug.-Oct. 2020)
• Postdoctoral Fellowship, University of Waterloo (2017-2018)
• PhD, Mechanical & Mechatronics Eng., University of Waterloo (2017)
• MSc, Mechanical Engineering, AmirKabir University of Technology (2005)

Research

Lab webpage: https://sites.google.com/ualberta.ca/networked-optimization-diagnos/about-us

Research Interest:

• Control theory
• Distributed estimation and control
• Robotics
• Autonomous navigation
• Human-autonomy coordination

Available positions are posted here. Motivated graduate students and Postdocs with background in perception, motion planning, and autonomous navigation are encouraged to contact ehashemi [at] ualberta [dot] ca.

Selected Publications:

1. E. Hashemi, X. He, and K. H. Johansson, "A Dynamical Game Approach for Integrated Stabilization and Path Tracking for Autonomous Vehicles," American Control Conference, Denver, CO, 2020.
2. Y. Qin, E. Hashemi, and A. Khajepour “Integrated Crash Avoidance and Mitigation Algorithm for Autonomous Vehicles,” IEEE Transactions on Industrial Informatics, 2021, (to appear).
3. M. Floren, E. Hashemi, and A. Khajepour, "An Integrated Control Approach for the Combined Longitudinal and Lateral Vehicle Following Problem", American Control Conference, New Orleans, LA, 2021, (to appear).
4. X. He, E. Hashemi, and K. H. Johansson, "Event-Triggered Task-Switching Control Based on Distributed Estimation", IFAC World Congress, 2020.
5. M. H Mamduhi, E. Hashemi, J. S. Baras, and K. H. Johansson, "Event-triggered Add-on Safety for Connected and Automated Vehicles Using Road-side Network Infrastructure", IFAC World Congress, 2020.
6. E. Mohammadbagher, N. P. Bhatt, E. Hashemi, B. Fidan, and A. Khajepour, "Real-time Pedestrian Localization and State Estimation Using Moving Horizon Estimation", IEEE Int. Conf. on Intelligent Transportation Systems, 2020.
7. E. Hashemi, M. Jalali, A. Khajepour, A. Kasaiezadeh, and S-K. Chen “Vehicle Stability Control: Model Predictive Approach and Combined-Slip Effect,” IEEE/ASME Transactions on Mechatronics, 2020.
8. Y. Liao, E. Hashemi, T. Wang, and B. Yang, "A Learning-Aided Generic Framework for Fault Detection and Recovery of Inertial Sensors in Automated Driving Systems," IEEE Systems Journal, 2020.
9. P. E. Pare, E. Hashemi, R. Stern, H. Sandberg, and K. H. Johansson, “Networked Model for Cooperative Adaptive Cruise Control," IFAC NecSys Workshop, Chicago, 2019.
10. E. Hashemi, M. Pirani, A. Khajepour, B. Fidan, S.K. Chen, and B. Litkouhi “Fault-Tolerant Consensus for Vehicle State Estimation: A Cyber-physical Approach,” IEEE Transactions on Industrial Informatics, 2019.
11. E. Hashemi, M. Pirani, A. Khajepour, B. Fidan, A. Kasaiezadeh, and S-K. Chen, “Opinion Dynamics Based Vehicle Velocity Estimation and Diagnosis,” IEEE Transactions on Intelligent Transportation Systems, 2017.
12. E. Hashemi, M. Pirani, A. Khajepour, A. Kasaiezadeh, S-K. Chen, and B. Litkouhi, “Corner-Based Estimation of Tire Forces and Vehicle Velocities Robust to Road Conditions,” Control Engineering Practice, 61: 28-40, 2017.
13. M. Jalali E. Hashemi, A. Khajepour, S-K. Chen, and B. Litkouhi, “A Combined-Slip Predictive Control of Vehicle Stability with Experimental Verification,” Vehicle System Dynamics, 1-22, 2017.
14. M. Pirani, E. Hashemi, J. W. Simpson-Porco, B. Fidan, and A. Khajepour, “A Graph Theoretic Approach to the Robustness of k-Nearest Neighbor Vehicle Platoons,” IEEE Transactions on Intelligent Transportation Systems, 2017.
15. E. Hashemi, A. Khajepour, “Kinematic and Three-Dimensional Dynamic Modeling of a Biped Robot,” Journal of Multi-body Dynamics, Proceedings of the Institution of Mechanical Engineers, Part K, 231(1): 57-73, 2017.

ENG M 670 - Advanced Topics in Engineering Management I

MEC E 652 - Autonomous Driving and Navigation

Introduction to theoretical and technical aspects of robot perception. Topics may include autonomous navigation, accurate localization, state estimation, and motion planning for robot and vehicle applications. Deep learning based visual feature detection and classification, various actuation systems for path tracking and stabilization in autonomous driving, Safety of the Intended Functionality and health monitoring of the control loop in automated driving will also be covered.

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