Publications

H. X. Pham, A. Sarabakha, M. Odnoshyvkin, and E. Kayacan, "PencilNet: Zero-Shot Sim-to-Real Transfer Learning for Robust Gate Perception in Autonomous Drone Racing," IEEE Robotics and Automation Letters, 2022. [pdf, video]

K. Yezerska, A. Dushina, A. Sarabakha, P. Wagner, A. Dyck, and M. Wark, "Model-Based Degradation Prediction on Impedance Data and Artificial Neural Network for High-Temperature Polymer Electrolyte Membrane Fuel Cells after Hydrogen Starvation," International Journal of Hydrogen Energy, vol. 47, issue 68, pp. 29495–29504, Aug. 2022. [pdf]

A. Sarabakha, and E. Kayacan, "Online Deep Fuzzy Learning for Control of Nonlinear Systems Using Expert Knowledge," IEEE Transactions on Fuzzy Systems, vol. 28, no. 7, pp. 1492–1503, July 2020. [pdf, video]

A. Sarabakha, C. Fu, and E. Kayacan, "Intuit Before Tuning: Type-1 and Type-2 Fuzzy Logic Controllers," Applied Soft Computing, vol. 81, pp. 105495–105510, Aug. 2019. [pdf, video]

S. Patel, A. Sarabakha, D. Kircali, and E. Kayacan, "An Intelligent Hybrid Artificial Neural Network-Based Approach for Control of Aerial Robots," Journal of Intelligent & Robotic Systems, pp. 1-12, May 2019. [pdf, video]

A. Sarabakha, C. Fu, E. Kayacan, and T. Kumbasar, "Type-2 Fuzzy Logic Controllers Made Even Simpler: From Design to Deployment for UAVs," IEEE Transactions on Industrial Electronics, vol. 65, no. 6, pp. 5069–5077, June 2018. [pdf, video]

E. Kayacan, A. Sarabakha, S. Coupland, R. John, and M. A. Khanesar, "Type-2 Fuzzy Elliptic Membership Functions for Modeling Uncertainty," Engineering Applications of Artificial Intelligence, vol. 70, pp. 170–183, Apr. 2018. [pdf]

C. Fu, A. Sarabakha, E. Kayacan, C. Wagner, R. John, and J. M. Garibaldi, "Input Uncertainty Sensitivity Enhanced Non-Singleton Fuzzy Logic Controllers for Long-Term Navigation of UAVs," IEEE/ASME Transactions on Mechatronics, vol. 23, no. 2, pp. 725–734, Apr. 2018. [pdf, video]

A. Sarabakha, N. Imanberdiyev, E. Kayacan, M. A. Khanesar, and H. Hagras, "Novel Levenberg-Marquardt Based Learning Algorithm for Unmanned Aerial Vehicles," Information Sciences, vol. 417, pp. 361–380, Nov. 2017. [pdf, video]

A. Moortgat-Pick, P. So, M. J. Sack, E. G. Cunningham, B. P. Hughes, A. Adamczyk, A. Sarabakha, L. Takayama, and S. Haddadin, "A-RIFT: Visual Substitution of Force Feedback for a Zero-Cost Interface in Telemanipulation," in 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Kyoto, Japan, 2022. [pdf, video]

M. C. Yildirim, M. Sabaghian, T. Goll, C. Kössler, C. Jähne, A. Swikir, A. Sarabakha, and S. Haddadin, "Development of a Collaborative Wheeled Mobile Robot: Design Considerations, Drive Unit Torque Control, and Preliminary Result," in 2022 IEEE International Conference on Robotics and Automation (ICRA), Philadelphia, USA, 2022, pp. 5769–5775. [pdf, video]

H. X. Pham, I. Bozcan, A. Sarabakha, S. Haddadin, and E. Kayacan, "GateNet: An Efficient Deep Neural Network Architecture for Gate Perception Using Fish-Eye Camera in Autonomous Drone Racing," in 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Prague, Czech Republic, 2021, pp. 4176–4183. [pdf, video]

T. Morales, A. Sarabakha, and E. Kayacan, "Image Generation for Efficient Neural Network Training in Autonomous Drone Racing," in 2020 IEEE International Joint Conference on Neural Networks (IJCNN), Glasgow, UK, 2020, pp. 1–8. [pdf, video]

S. Patel, A. Sarabakha, D. Kircali, G. Loianno, and E. Kayacan, "Artificial Neural Network-Assisted Controller for Fast and Agile UAV Flight: Onboard Implementation and Experimental Results," in 2019 International Workshop on Research, Education and Development on Unmanned Aerial Systems (RED-UAS), Cranfield, UK, 2019, pp. 37–43. [pdf, video]

S. Zhou, A. Sarabakha, E. Kayacan, M. K. Helwa, and A. P. Schoellig, "Knowledge Transfer Between Robots with Similar Dynamics for High-Accuracy Impromptu Trajectory Tracking," in 2019 European Control Conference (ECC), Naples, Italy, 2019, pp. 1–8. [pdf, video]

A. Sarabakha, and E. Kayacan, "Online Deep Learning for Improved Trajectory Tracking of Unmanned Aerial Vehicles Using Expert Knowledge," in 2019 IEEE International Conference on Robotics and Automation (ICRA), Montreal, Canada, 2019, pp. 7727–7733. [pdf, video]

C. Fu, A. Sarabakha, E. Kayacan, C. Wagner, R. John, and J. M. Garibaldi, "Similarity-Based Non-Singleton Fuzzy Logic Control for Improved Performance in UAVs," in 2017 IEEE International Conference on Fuzzy Systems (FUZZ-IEEE), Naples, Italy, 2017, pp. 1–6. [pdf, video]

A. Sarabakha, C. Fu, and E. Kayacan, "Double-Input Interval Type-2 Fuzzy Logic Controllers: Analysis and Design," in 2017 IEEE International Conference on Fuzzy Systems (FUZZ-IEEE), Naples, Italy, 2017, pp. 1–6. [pdf, video]

C. Fu, A. Sarabakha, E. Kayacan, C. Wagner, R. John, and J. M. Garibaldi, "A Comparative Study on the Control of Quadcopter UAVs by Using Singleton and Non-Singleton Fuzzy Logic Controllers," in 2016 IEEE International Conference on Fuzzy Systems (FUZZ-IEEE), Vancouver, Canada, 2016, pp. 1023–1030. [pdf]

A. Sarabakha, and E. Kayacan, "Y6 Tricopter Autonomous Evacuation in an Indoor Environment Using Q-Learning Algorithm," in 2016 IEEE 55th Conference on Decision and Control (CDC), Las Vegas, USA, 2016, pp. 5992–5997. [pdf, video]