Publications

PI's Google Scholar:

Journal papers:

K. Fathian, T. Summers, “CLIPPER+: A Fast Maximal Clique Algorithm for Robust Global Registration,” IEEE Robotics and Automation Letters, 2024.

P. Lusk, K. Fathian, J. P. How, “MIXER: Multiattribute, Multiway Fusion of Uncertain Pairwise Affinities,” IEEE Robotics and Automation Letters, 2023.

V. Renganathan, K. Fathian, S. Safaoui, T. Summers, “Spoof Resilient Coordination in Distributed and Robust Robotic Networks,” IEEE Transactions on Control Systems Technology, 2021.

P. Lusk, X. Cai, S. Wadhwania, A. Paris, K. Fathian, J. How “A Distributed Pipeline for Scalable, Deconflicted Formation Flying,”  IEEE Robotics and Automation Letters, 2020.

K. Fathian, K. Khosoussi, Y. Tian, P. Lusk, J. How, “CLEAR: A Consistent Lifting, Embedding, and Alignment Rectification Algorithm for Multi-View Data Association,” IEEE Transactions on Robotics, 2020.

K. Fathian, S. Safaoui, T. H. Summers, N. R. Gans, “Robust Distributed Planar Formation Control for Higher-Order Holonomic and Nonholonomic Agents”  IEEE Transactions on Robotics, 2020.

K. Fathian, T. H. Summers, N. R. Gans, “Robust Distributed Formation Control of Agents with Higher-Order Dynamics,” IEEE Control Systems Letters, 2018.

K. Fathian, J. Jin, S. Wee, D. Lee, Y. Kim, N. R. Gans, “Camera Relative Pose Estimation for Visual Servoing using Quaternions,” Elsevier Robotics and Autonomous Systems, 2018.

K. Fathian, J. P. Ramirez, E. A. Doucette, J. W. Curtis, N. R. Gans, “QuEst: A Quaternion-Based Approach for Camera Motion Estimation from Minimal Feature Points,”  IEEE Robotics and Automation Letters, 2018. 

M. Sedighizadeh, K. Fathian, “Dynamic Modeling and Adaptive Control of Voltage in Proton Exchange Membrane Fuel Cell Using Water Management," International Journal of Energy Research, 2011,

Conference papers:

J. Ankenbauer, K. Fathian, J. How, "View-Invariant Localization using Semantic Objects in Changing Environments," in review, IEEE International Conference on Robotics and Automation, 2023, London, UK.

P. Lusk, K. Fathian, J. How, "CLIPPER: A Graph-Theoretic Framework for Robust Data Association," IEEE International Conference on Robotics and Automation, 2021, Xian, China.

S. Jamieson, K. Fathian, K. Khosoussi, J. How, Y. Girdhar, "Multi-Robot Distributed Semantic Mapping in Unfamiliar Environments through Online Matching of Learned Representations," IEEE International Conference on Robotics and Automation, 2021, Xian, China.

P. Lusk, X. Cai, S. Wadhwania, A. Paris, K. Fathian, J. How, “A distributed pipeline for scalable, deconflicted formation flying,” IEEE International Conference on Intelligent Robots and Systems, 2020, Las Vegas, USA.

K. Fathian, S. Safaoui, T. H. Summers, N. R. Gans, “Robust 3D Distributed Formation Control with Collision Avoidance and Application to Multirotor Aerial Vehicles,” International Conference on Robotics and Automation, 2019, Montreal, Canada.

K. Fathian, D. I. Rachinskii, M. W. Spong, T. H. Summers, N. R. Gans., “Distributed Formation Control via Mixed Barycentric Coordinate and Distance-Based Approach,” 2019 American Control Conference, Philadelphia, USA.

K. Fathian, T. H. Summers, N. R. Gans, “Distributed Formation Control and Navigation of Fixed-wing UAVs at Constant Altitude,” International Conference on Unmanned Aircraft Systems, 2018, Dallas, TX.

K. Fathian, J. P. Ramirez, E. A. Doucette, J. W. Curtis, N. R. Gans., “QuEst: A Quaternion-Based Approach for Camera Motion Estimation from Minimal Feature Points,” 2018 IEEE International Conference on Robotics and Automation, Brisbane, Australia.

K. Fathian, D. I. Rachinskii, T. H. Summers, M. W. Spong, N. R. Gans, “Distributed Formation Control Under Arbitrarily Changing Topology,” 2017 American Control Conference, Seattle, WA.

K. Fathian, D. I. Rachinskii, T. H. Summers, N. R. Gans, “Distributed Control of Cyclic Formations with Local Relative Position Measurements,” 2016 IEEE Control and Decision Conference, Las Vegas, NV.

K. Fathian, D. I. Rachinskii, M. W. Spong, N. R. Gans, “Globally Asymptotically Stable Distributed Control for Distance and Bearing Based Multi-Agent Formations,”  2016 American Control Conference, Boston, MA. 

K. Fathian, N. R. Gans, “A new approach for solving the Five-Point Relative Pose Problem for vision-based estimation and control,” American Control Conference, 2014, Portland, OR. 

K. Fathian, F. Hassanipour, N. R. Gans, “ Virtual Thermal Sensing and Control of Heat Distribution using State Estimation,'' ASME International Mechanical Engineering Congress and Exposition, 2012, Houston, TX. 

Workshop papers (peer-reviewed):

P. C. Lusk, R. Roy, K. Fathian, J. How, “MIXER: A Principled Framework for Multimodal, Multiway Data Association,”  IEEE ICRA workshop on Robust Perception For Autonomous Field Robots in Challenging Environments, 2021, Xian, China.

K. Fathian, E. Doucette, J. W. Curtis, N. R. Gans “Vision-Based distributed formation control of unmanned aerial vehicles,” IEEE/RSJ International Conference on Intelligent Robot and Systems, 2018, Madrid, Spain.

K. Fathian, S. Safaoui, T. H. Summers, N. R. Gans, “Robust 3D distributed formation control with application to quadrotors” IEEE/RSJ International Conference on Intelligent Robot and Systems, 2018, Madrid, Spain.

Dissertation & Thesis:

K. Fathian, “Distributed formation control of autonomous vehicles via vision-based motion estimation,”  PhD dissertation, University of Texas at Dallas

K. Fathian, “Virtual thermal sensing and control of heat distribution using state estimation” MS thesis.

Misc:

K. Fathian, J. P. Ramirez, E. A. Doucette, J. W. Curtis, N. R. Gans., “Quaternion Based Camera Pose Estimation From Matched Feature Points,”  arXiv, 2016.