Check out Prof. Hashim Mohamed’s Lab webpage:
Robotics, Navigation, and Control Systems Laboratory (RNCSL)
Visit our Research Group
Check out the complete list of Prof. Hashim’s publications:
*supervised student
Published Journal Papers
[J30]. A. V. Jonnalagadda and H. A. Hashim, “SegNet: A Segmented Deep Learning based Convolutional Neural Network Approach for Drones Wildfire Detection,” Remote Sensing Applications: Society and Environment (RSA-SE), vol. 34, pp. 101181, 2024. [pdf] Video
[J29]. H. A. Hashim, A. E. E. Eltoukhy, and K. G. Vamvoudakis, “UWB Ranging and IMU Data Fusion: Overview and Nonlinear Stochastic Filter for Inertial Navigation,” IEEE Transactions on Intelligent Transportation Systems (IEEE T-ITS), Vol. 25, No. 1, pp. 359-369, 2024. [pdf]
[J28]. H. A. Hashim and K. G. Vamvoudakis, “Adaptive Neural Network Stochastic-Filter-based Controller for Attitude Tracking with Disturbance Rejection,” IEEE Transactions on Neural Networks and Learning Systems (IEEE T-NNLS), Vol. 35, No. 1, pp. 1217-1227, 2024. [pdf]
[J27]. H. A. Hashim, A. E. E. Eltoukhy, and A. Odry, “Observer-based Controller for VTOL-UAVs Tracking using Direct Vision-Aided Inertial Navigation Measurements,” ISA Transactions (ISA Trans.), Vol. 137, pp. 133-143, 2023. [pdf]
[J26]. M. Abouheaf, H. A. Hashim, M. Mayyas, and K. G. Vamvoudakis, “An Online Model-Following Projection Mechanism Using Reinforcement Learning,” IEEE Transactions on Automatic Control (IEEE TAC), Vol. 68, No. 11, pp. 6959-6966, 2023. [pdf]
[J25]. W. Al-Masri, A. Wadi, M. F. Abdel-Hafez, H. A. Hashim, and A. El-Hag, “Partial Discharge Localization in Power Transformers Using Invariant Extended Kalman Filter,” IEEE Transactions on Instrumentation and Measurement (IEEE TIM), Vol. 72, No. 1, pp. 1-10, 2023.
[J24]. O. Chamberland, M. Reckzin, and H. A. Hashim, “An Autoencoder with Convolutional Neural Network for Surface Defect Detection on Cast Components,” Journal of Failure Analysis and Prevention (JFAP), Vol. 23, No. 4 pp. 1633-1644, 2023.
[J23]. H. A. Hashim, “Exponentially Stable Observer-based Controller for VTOL-UAVs without Velocity Measurements,” International Journal of Control (INT J CONT), Vol. 96, No. 8, pp. 1946-1960, 2023. [pdf]
[J22]. A. Wadi, M. F. Abdel-Hafez, H. A. Hashim, and A. A. Hussein, “An Invariant Method for Electric Vehicle Battery State-of-Charge Estimation Under Dynamic Drive Cycles,” IEEE Access, Vol. 11, pp. 8663-8673, 2023. [pdf]
[J21]. H. A. Hashim, M. Abouheaf, and K. G. Vamvoudakis, “Neural-Adaptive Stochastic Attitude Filter on SO(3),” IEEE Control Systems Letters (IEEE CSL), Vol. 6, No. 1, pp. 1549-1554, 2022. [pdf] (Presented at IEEE American Control Conference ACC) Video
[J20] H. A. Hashim and A. E. E. Eltoukhy, “Nonlinear Filter for Simultaneous Localization and Mapping on a Matrix Lie Group using IMU and Feature Measurements,” IEEE Transactions on Systems, Man, and Cybernetics: Systems (IEEE T-SMCS), Vol. 52, No. 4, pp. 2098-2109, 2022. [pdf]
[J19] H. A. Hashim and A. E. E. Eltoukhy, “Landmark and IMU Data Fusion: Systematic Convergence Geometric Nonlinear Observer for SLAM and Velocity Bias,” IEEE Transactions on Intelligent Transportation Systems (IEEE T-ITS), Vol. 23, No. 4, pp. 292-3301, 2022. [pdf]
[J18]. H. A. Hashim, M. Abouheaf, and M. Abido, “Geometric Stochastic Filter with Guaranteed Performance for Autonomous Navigation based on IMU and Feature Sensor Fusion,” Control Engineering Practice (CONT ENG PRACT), Vol. 116, pp. 104926, 2021. [pdf] Experiment Video (Featured September 2022 by Control Engineering Practice here) & (Media Acknowledgement here)
[J17] H. A. Hashim, “A Geometric Nonlinear Stochastic Filter for Simultaneous Localization and Mapping,” Aerospace Science and Technology (AESCTE), Vol. 111, pp. 106569, 2021. [pdf]
[J16] H. A. Hashim, “Guaranteed Performance Nonlinear Observer for Simultaneous Localization and Mapping,” IEEE Control Systems Letters (IEEE CSL), Vol. 5, No. 1, pp. 91-96, 2021. [pdf]
[J15] H. A. Hashim and F. L. Lewis, “Nonlinear Stochastic Estimators on the Special Euclidean Group SE(3) using Uncertain IMU and Vision Measurements,” IEEE Transactions on Systems, Man, and Cybernetics: Systems (IEEE T-SMCS), Vol. 51, No. 12, pp. 7587-7600, 2021. [pdf]
[J14] H. A. Hashim, L. J. Brown, and K. McIsaac, “Nonlinear Pose Filters on the Special Euclidean Group SE(3) with Guaranteed Transient and Steady-state Performance,” IEEE Transactions on Systems, Man, and Cybernetics: Systems (IEEE T-SMCS), Vol. 51, No. 5, pp. 2949-2962, 2021. [pdf]
[J13] H. A. Hashim, “Systematic Convergence of Nonlinear Stochastic Estimators on the Special Orthogonal Group SO(3),” International Journal of Robust and Nonlinear Control (INT J RNC), Vol. 30, No. 10, pp. 3848-3870, 2020. [pdf]
[J12] H. A. Hashim, L. J. Brown, and K. McIsaac, “Nonlinear Stochastic Attitude Filters on the Special Orthogonal Group 3: Ito and Stratonovich,” IEEE Transactions on Systems, Man, and Cybernetics: Systems (IEEE T-SMCS), Vol. 49, No. 9, pp. 1853-1865, 2019. [pdf]
[J11] H. A. Hashim, S. El-Ferik, and F. L. Lewis, “Neuro-adaptive Cooperative Tracking Control with Prescribed Performance of Unknown Higher-order Nonlinear Multi-agent Systems,” International Journal of Control (INT J CONT), Vol. 92, No. 2, pp. 445-460, 2019. [pdf]
[J10] H. A. Hashim, L. J. Brown, and K. McIsaac, “Nonlinear Stochastic Position and Attitude Filter on the Special Euclidean Group 3,” Journal of the Franklin Institute (J FRANK INST), Vol. 356, No. 7, pp. 4144-4173, 2019. [pdf]
[J9] H. A. Hashim, and M. Abido, “Location Management in LTE Networks using Multi-Objective Particle Swarm Optimization,” Computer Networks (COMP NET), Vol. 157, pp. 78-88, 2019. [pdf]
[J8] E. Aqeeli, H. A. Hashim, A. Haque, and A. Shami, “Optimal Location Management in LTE Networks using Evolutionary Techniques,” International Journal of Communication Systems (INT J COM SYS), Vol. PP, No. PP, pp. PP, 2019.
[J7] H. A. Hashim, L. J. Brown, and K. McIsaac, “Guaranteed Performance of Nonlinear Attitude Filters on the Special Orthogonal Group SO(3),” IEEE Access, Vol. 7, No. 1, pp. 3731-3745, 2019. [pdf]
[J6] S. El-Ferik, H. A. Hashim, and F. L. Lewis, “Neuro-Adaptive Distributed Control with Prescribed Performance for the Synchronization of Unknown Nonlinear Networked Systems,” IEEE Transactions on Systems, Man, and Cybernetics: Systems (IEEE T-SMCS), Vol. 48, No. 12, pp. 2135-2144, 2018. [pdf]
[J5] B. Ayinde, and H. A. Hashim, “Energy‑Efficient Deployment of Relay Nodes in Wireless Sensor Networks Using Evolutionary Techniques,” International Journal of Wireless Information Networks (INT J WIN), Vol. 25, No. 2, pp. 157-172, 2018. [pdf]
[J4] H. A. Hashim, S. El-Ferik, and F. L. Lewis, “Adaptive Synchronisation of Unknown Nonlinear Networked Systems with Prescribed Performance,” International Journal of Systems Science (INT J SYS SCI), Vol. 48, No. 4, pp. 885-898, 2017. [pdf]
[J3] H. A. Hashim, B. Ayinde, and M. Abido, “Optimal placement of relay nodes in wireless sensor network using artificial bee colony algorithm,” Journal of Network and Computer Applications (JNCA), Vol. 64, No. 21, pp. 239–248, 2016. [pdf]
[J2] H. A. Hashim, S. El-Ferik, and M. Abido, “A fuzzy logic feedback filter design tuned with PSO for L1 adaptive controller,” Expert Systems with Applications (ESA), Vol. 42, No. 23, pp. 9077–9085, 2015. [pdf]
[J1] H. A. Hashim, and M. Abido, “Fuzzy Controller Design Using Evolutionary Techniques for Twin Rotor MIMO System: A Comparative Study,” Computational intelligence and neuroscience (CINC), vol. 2015, Article ID 704301, 11 pages, 2015. [pdf]
Refereed Conference Proceeding
[C17]. A. Shevidi and H. A. Hashim, “Adaptive Backstepping and Non-singular Sliding Mode Control for Quadcopter UAVs with Unknown Time-varying Uncertainties,” In Proc. of the 2024 IEEE American Control Conference (ACC’24), Toronto, Ontario, Canada, pp. 1-7, 2024.
[C16]. A. M. Ali, H. A. Hashim, and C. Shen “MPC for Safety-Critical Navigation of VTOL-UAVs,” In Proc. of the 2024 IEEE American Control Conference (ACC’24), Toronto, Ontario, Canada, pp. 1-6, 2024.
[C15] H. A. Hashim, A. E. E. Eltoukhy, K. G. Vamvoudakis, and M. I. Abouheaf, “Nonlinear Deterministic Observer for Inertial Navigation using Ultra-wideband and IMU Sensor Fusion,” In Proc. of the 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS’23), Detroit, Michigan, USA, pp. 3085-3090, 2023. [pdf] Video
[C14]. M. I. Abouheaf, K. G. Vamvoudakis, M. A. Mayyas, and H. A. Hashim, “An Observer-Based Reinforcement Learning Solution for Model-Following Problems ,” In Proc. of the 62nd IEEE Conference on Decision and Control (CDC’23), Marina Bay Sands, Singapore, pp. 1–6, 2023. [pdf] (Invited Paper)
[C13] A. Odry, I. Kecskes, D. Csik, H. A. Hashim, and P. Sarcevic, “Adaptive Gradient-Descent Extended Kalman Filter for Pose Estimation of Mobile Robots with Sparse Reference Signals,” In Proc. of the 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS’22), Kyoto, Japan, pp. 4010-4017, 2022. Video
[C12] M. Mwema and H. A. Hashim, “QUEST-based Kalman filter and LQR for Satellite Attitude Control,” In Proc. of the 10th IEEE International Conference on Control, Mechatronics and Automation (ICCMA’22), Luxembourg, Luxembourg, pp. 135-141, 2022. [pdf] Video
[C11] H. A. Hashim, C. Tatarniuk, and B. Harasymchuk, “First Year Engineering Design: Course Design, Projects, Challenges, and Outcomes,” In Proc. of the the 2022 IEEE Frontiers in Education (FIE) conference (FIE’22), Uppsala, Sweden, pp. 1-9, 2022. [pdf] Video (Grand Challenges in Engineering Education)
[C10] M. Labbadi, H. A. Hashim, A. E. E. Eltoukhy, and M. Djemai, “Barrier Function-based Adaptive Nonsingular Fast Terminal Sliding Mode Control for Disturbed UAVs,” In Proc. of the 2022 IEEE European Control Conference (ECC’22), London, United Kingdom, pp. 975-980, 2022.
[C9] A. Singh, M. Tawhid, and H. A. Hashim, “Nonlinear Deterministic Filter for Inertial Navigation and Bias Estimation with Guaranteed Performance,” In Proc. of the 2021 IEEE 24th International Intelligent Transportation Systems Conference (ITSC’24), Indianapolis, IN, USA, pp. 3405-3411, 2021. [pdf] Video
[C8] H. A. Hashim, “Asymptotically Stable Observer-based Controller for Attitude Tracking with Systematic Convergence,” In Proc. of the 2021 IEEE 25th International Conference on System Theory, Control and Computing (ICSTCC’21), Iasi, Romania, pp. 39-45, 2021. [pdf] Video
[C7] M. Tawhid, A. Singh, and H. A. Hashim, “Stochastic Observer for SLAM on the Lie Group,” IFAC-PapersOnLine, Vol. 54, No. 20, pp. 759-764, (IFAC’21), Texas, USA 2021. [pdf] Video
[C6] H. A. Hashim, “GPS-denied Navigation: Attitude, Position, Linear Velocity, and Gravity Estimation with Nonlinear Stochastic Observer,” In Proc. of the 2021 IEEE American Control Conference (ACC’21), New Orleans, Louisiana, USA, pp. 1146-1151, 2021. [pdf] Video
[C5] T. P. Drayton, A. Jaiyeola, N. Hoque, M. Maurer, and H. A. Hashim, “Fast Adaptation Nonlinear Observer for SLAM,” In Proc. of the 2020 IEEE 24th International Conference on System Theory, Control and Computing (ICSTCC’20), Sinaia, Romania, pp. 495-500, 2020. [pdf] Video
[C4] A. Singh, T. S. Sieb, J. H. Howe, and H. A. Hashim, “Nonlinear Attitude Filter on SO(3): Fast Adaptation and Robustness,” In Proc. of the 2020 IEEE 16th International Conference on Automation Science and Engineering (CASE’20), HKU, Hong Kong, pp. 869-874, 2020. [pdf] Video
[C3] T. S. Sieb, A. Singh, L. Guidos, and H. A. Hashim, “FLC tuned with Gravitational Search Algorithm for Nonlinear Pose Filter,” In Proc. of the 2020 IEEE International Conference on Systems, Man, and Cybernetics (SMC’20), Toronto, Canada, pp. 2864-2869, 2020. [pdf] Video
[C2] H. A. Hashim, L. J. Brown, and K. McIsaac, “Guaranteed Performance of Nonlinear Pose Filter on SE(3),” In Proc. of the 2019 IEEE American Control Conference (ACC’19), Philadelphia, PA, USA, pp. 1108-1113, 2019. [pdf]
[C1] H. A. Hashim, L. J. Brown, and K. McIsaac, “Nonlinear Explicit Stochastic Attitude Filter on SO(3),” In Proc. of the 57th IEEE Conference on Decision and Control (CDC’18), Miami Beach, FL, USA, pp. 1210–1216, 2018. [pdf]
Technical Reports
[R4] H. A. Hashim, “Attitude Determination and Estimation using Vector Observations: Review, Challenges and Comparative Results,” arXiv preprint arXiv: 2001.03787, 2020. [pdf]
[R3] H. A. Hashim, “Special Orthogonal Group SO(3), Euler Angles, Angle-axis, Rodriguez Vector and Unit-quaternion: Overview, Mapping and Challenges,” arXiv preprint arXiv: 1909.06669, 2019. [pdf]
[R2] H. A. Hashim, “Distributed Adaptive Consensus Control of High Order Unknown Nonlinear Networked Systems with Guaranteed Performance ,” arXiv preprint arXiv: 1904.11588, 2019. [pdf]
[R1] H. A. Hashim, S. El-Ferik, B. Ayinde, and M. Abido, “Optimal Tuning of Fuzzy Feedback filter for L1 Adaptive Controller Using Multi-Objective Particle Swarm Optimization for Uncertain Nonlinear MIMO Systems,” arXiv preprint arXiv: 1710.05423, 2017. [pdf]