Research

  • Formation control of multi-agents
  • Coverage and localization in sensor networks
  • Gesture detection and classification, gesture-based control
  • Intelligent control of nonlinear systems

Publications

Books:

  1. R. R. Selmic, V. Phoha, and A. Serwadda, Wireless Sensor Networks: Security, Coverage, and Localization, Springer, 2016.
  2. F. L. Lewis, J. Campos, and R. R. Selmic,
    Neuro-Fuzzy Control of Industrial Systems with Actuator Nonlinearities, SIAM Press, Philadelphia, PA, 2002.

Book Chapters:

  1. S. Ramazani, R. R. Selmic, and M. de Queiroz, “Multi-Agent Layered Formation Control Based on Rigid Graph Theory” in Control of Complex Systems: Theory and Applications, K. Vamvoudakis and J. Sarangapani (Eds.), Elsevier 2016, pp. 397-419.
  2. D. Jethwa, R. R. Selmic, and F. Figueroa, “Real-time implementation of intelligent actuator control with a transducer health monitoring capability,” in Recent Advances in Control Systems, Robotics, and Automation, S. Pennacchio (Ed.), Third Edition, Internationalsar, Italy, 2009.
  3. R. R. Selmic and F. L. Lewis, “Deadzone compensation in motion control systems using augmented multilayer neural networks,” in Adaptive Control of Systems with Nonsmooth Nonlinearities, G. Tao and F. L. Lewis (Eds.), Springer-Verlag, London, UK, 2001.
  4. R. R. Selmic and F. L. Lewis, “Neural network approximation of piecewise continuous functions: application to friction compensation,” in Soft Computing and Intelligent Systems: Theory and Applications, N. K. Sinha and M. M. Gupta (Eds.), Academic Press, London, UK, 2000.

Journal Papers:

  1. N. Elhami Fard and R. R. Selmic, “Adversarial attacks on heterogeneous multi-agent deep reinforcement learning system with time-delayed data transmission,” Journal of Sensor and Actuator Networks, vol. 11, no. 45, August 2022. https://doi.org/10.3390/jsan11030045
  2. Mousavi, K. Aryankia, and R. R. Selmic, “A distributed FDI cyber-attack detection in discrete-time nonlinear multi-agent systems using neural networks,” European Journal of Control, vol. 66, July 2022. https://doi.org/10.1016/j.ejcon.2022.100646
  3. P. Sadhukhan and R. R. Selmic, “Proximal Policy Optimization for Formation Navigation and Obstacle Avoidance,” International Journal of Intelligent Robotics and Applications, Springer, June 2022. https://doi.org/10.1007/s41315-022-00245-z
  4. N. Elhami Fard, R. R. Selmic, and K. Khorasani, “A Survey of Techniques, Policies, and Ethics on Cybersecurity Using Artificial Intelligence and Reinforcement Learning Algorithms,” submitted to Journal of Artificial Intelligence Research, April 2022.
  5. K. Aryankia and R. R. Selmic, “Formation control of nonlinear multi-agent systems using three-layer neural networks,” submitted to IEEE Transactions on Neural Networks and Learning Systems, April 2022.
  6. N. Elhami Fard and R. R. Selmic, “Consensus of multi-agent reinforcement learning systems: The effect of immediate rewards,” Journal of Robotics and Control, vol. 3, no. 2, March 2022.
  7. F. M. Ferreira, J. Viana da Fonseca Neto, and R. R. Selmic, “HDP Algorithms for Trajectory Tracking and Formation Control of Multi-agent Systems,” IEEE Access, March 2022. DOI: 10.1109/ACCESS.2022.3156092
  8. K. Aryankia and R. R. Selmic, “Neural network-based formation control with target tracking for second-order nonlinear multi-agent systems,” IEEE Transactions on Aerospace and Electronic Systems, vol. 58, no. 1, pp. 328-341, February 2022.
  9. R. Babazadeh and R. R. Selmic, “Distributed directed distance-based formation control with almost global asymptotic stability that prevents reflections in 3-D space,” submitted to Automatica, February 2022.
  10. R. Babazadeh and R. R. Selmic, “Directed distance-based formation control of nonlinear heterogeneous agents in 3-D space,” submitted to IEEE Transactions on Aerospace and Electronic Systems, December 2021.
  11. R. Babazadeh and R. R. Selmic, “Robust optimal distance-based formation control of uncertain nonlinear agents over directed topologies,” submitted to IEEE Transactions on Automatic Control, September 2021.
  12. K. Aryankia and R. R. Selmic, “Spectral properties of the normalized rigidity matrix for triangular formations,” IEEE Control Systems Letters (L-CSS), vol. 6, pp. 1154-1159, June 2021. DOI: 10.1109/LCSYS.2021.3089136
  13. K. Aryankia and R. R. Selmic, “Neuro-adaptive formation control and target tracking for nonlinear multi-agent systems with time-delay,” IEEE Control Systems Letters (L-CSS), vol. 5, no. 3, pp. 791-796, July 2021.
  14. K. Haratiannejadi and R. R. Selmic, “Smart Glove and Hand Gesture-based Control Interface for Multi-Rotor Aerial Vehicles in a Multi-Subject Environment,” IEEE Access, vol. 8, pp. 227667-227677, December 2020. DOI: 10.1109/ACCESS.2020.3045858
  15. R. Babazadeh and R. R. Selmic, “Distance-Based Multi-Agent Formation Control with Energy Constraints Using SDRE,” IEEE Transactions on Aerospace and Electronic Systems, vol. 56, no. 1, pp. 41-56, February 2020.
  16. A. Gardner, C. Duncan, J. Kanno, and R. Selmic, “On the Definiteness of Earth Mover’s Distance and Its Relation to Set Intersection,” IEEE Transactions on Cybernetics, vol. 48, no. 11, pp. 3184-3196, November 2018.
  17. S. Ramazani, R. R. Selmic, and M. S. DeQueiroz, “Rigidity-Based Multiagent Layered Formation Control,” IEEE Transactions on Cybernetics, vol. 47, no. 8, pp. 1902-1913, August 2017.
  18. S. Ramazani, J. Kanno, R. Selmic, and M. Brust, “Topological and Combinatorial Coverage Hole Detection in Coordinate-Free Wireless Sensor Networks,” International Journal of Sensor Networks, vol. 21, no. 1, pp. 40-52, January 2016.
  19. G. Zhang, C. Duncan, J. Kanno, and R. R. Selmic, “Unmanned ground vehicle navigation in coordinate-free and localization-free wireless sensor and actuator networks,” Journal of Intelligent and Robotic Systems, Springer, vol. 74, no. 3, pp. 869–891, June 2014.
  20. Y. B. Reddy and R. R. Selmic, “A trust-based approach for secure packet transfer in wireless sensor networks,” International Journal on Advances in Security, vol. 4, no. 3-4, December 2011.
  21. O. Kuljaca, J. Gadewadikar, and R. R. Selmic, “Adaptive Neural Network Frequency Control for Thermopower Generators,” International Journal of Robotics and Automation, vol. 26, no. 1, pp. 86-92, February 2011.
  22. R. Selmic, A. Mitra, S. Challa, and N. Simicevic, “Ultra-wideband Signal Propagation Experiments in Liquid Media,” IEEE Transactions on Instrumentation and Measurement, vol. 59, no. 1, pp. 215-220, January 2010.
  23. D. Jethwa, R. R. Selmic and F. Figueroa, “Real-time implementation of intelligent actuator control with a transducer health monitoring capability,” International Journal of Factory Automation, Robotics, and Soft Computing, no. 1, pp. 5–10, January 2009.
  24. A. I. Moustapha and R. R. Selmic, “Wireless sensor network modeling using modified recurrent neural networks: application to failure detection,” IEEE Transactions on Instrumentation and Measurement, vol. 57, no. 5, pp. 981-988, May 2008.
  25. R. Selmic, M. Polycarpou, and T. Parisini, “Actuator Fault Detection in Nonlinear Uncertain Systems Using Neural On-line Approximation Models,” European Journal of Control, vol. 15, no. 1, pp. 29-44, Jan-Feb 2009.
  26. W. Gao and R. R. Selmic, “Neural network control of a class of nonlinear systems with saturation,” IEEE Transactions on Neural Networks, vol. 17, no. 1, pp. 147-156, Jan. 2006.
  27. R. R. Selmic, book review for Automatica, vol. 42, no. 3, March 2006: Adaptive Control Design and Analysis, by Gang Tao, John Wiley & Sons, Inc., Hoboken, New Jersey, 640pp., 2003, ISBN: 0-471-27452-6.
  28. R. R. Selmic, “Discussion on a multi-model approach to failure detection in uncertain sampled-data systems,” European Journal of Control, vol. 11, pp. 266-268, November 2005.
  29. W. Zhou, A. Khaliq, Y. Tang, H.-F. Ji, and R. R. Selmic, “Simulation and design of piezoelectric microcantilever chemical sensors,” Sensors and Actuators A, vol. 125, no. 1, pp. 69-75, October 2005.
  30. R. K. Sunkam, J. S. Hill, R. R. Selmic, and D. T. Haynie, “Solid-state nanopulse generator: application in ultra-wideband bioeffects research,” Review of Scientific Instruments, vol. 76, 054702, May 2005.
  31. Javier Campos, Frank L. Lewis, and Rastko Selmic, “Backlash compensation with filtered prediction in discrete time nonlinear systems by dynamic inversion using neural networks,” Asian Journal of Control, vol. 6, no. 3, pp. 362-375, September 2004.
  32. S. K. Rangarajan, V. V. Phoha, K. Balagani, R. R. Selmic, S. S. Iyengar, “Web user clustering and its application to prefetching using ART neural networks,” IEEE Computer, April 2004.
  33. R. R. Selmic and F. L. Lewis, “Neural network approximation of piecewise continuous functions: application to friction compensation,” IEEE Transactions on Neural Networks, vol. 13, no. 3, pp. 745-751, May 2002.
  34. Rastko R. Selmic and Frank L. Lewis, “Neural net backlash compensation with Hebbian tuning using dynamic inversion,” Automatica, vol. 37, pp. 1269-1277, April 2001.
  35. Rastko R. Selmic and Frank L. Lewis, “Backlash compensation in nonlinear systems using dynamic inversion by neural networks,” Asian Journal of Control, vol. 2., no. 2, pp. 76-87, June 2000.
  36. Javier Campos, Frank L. Lewis, and Rastko Selmic, “Backlash compensation in discrete time nonlinear systems using dynamic inversion by neural networks: a preliminary approach,” Developments in Intelligent Control for Industrial Applications of the Int. Journal of Adaptive Control and Signal Processing, 1999.
  37. Rastko R. Selmic and Frank L. Lewis, “Deadzone compensation in motion control systems using neural networks,” IEEE Trans. Automat. Contr., vol. 45, no. 4, pp. 602-613, April 2000.
  38. F. L. Lewis, K. Liu, R. R. Selmic, and Li-Xin Wang, “Adaptive fuzzy logic compensation of actuator deadzones,” Journal of Robotic Systems, vol. 14, no. 6, pp. 501-511, 1997.

Conference Papers (last 5 years):

  1. Rahimifard, A. M. M. Sizkouhi, and R. R. Selmic, “Replay attack detection for nonlinear multi-agent systems using set-membership fuzzy filtering,” submitted to the 61st IEEE Conference on Decision and Control, Cancun, Mexico, December 2022.
  2. R. Babazadeh and R. R. Selmic, “Robust formation control of nonlinear agents with distance constraints,” submitted to the 61st IEEE Conference on Decision and Control, Cancun, Mexico, December 2022.
  3. K. Aryankia and R. R. Selmic, “Formation control for a class of nonlinear multi-agent systems using three-layer neural networks,” submitted to the 61st IEEE Conference on Decision and Control, Cancun, Mexico, December 2022.
  4. N. Elhami Fard and R. R. Selmic, “Time-delayed Data Transmission in Heterogeneous Multi-agent Deep Reinforcement Learning System,” Proc. the 30th Mediterranean Conference on Control and Automation, Athens, Greece, June 2022.
  5. R. Babazadeh and R. R. Selmic, “Distance-based formation control of nonlinear agents over planar directed graphs,” Proc. the 2022 American Control Conference, Atlanta, Georgia, USA, June 2022.
  6. K. Aryankia and R. R. Selmic, “Spectral properties of the normalized rigidity matrix for triangular formations,” the 60th IEEE Conference on Decision and Control, Austin, Texas, USA, December 2021.
  7. M. Zareer and R. R. Selmic, “Expressed and Private Opinions Model with Asynchronous and Synchronous Updating,” Proc. IEEE International Conference on Systems, Man, and Cybernetics (SMC), Melbourne, Australia, October 2021.
  8. P. Sadhukhan and R. R. Selmic, “Multi-Agent Formation Control with Obstacle Avoidance Using Proximal Policy Optimization,” Proc. IEEE International Conference on Systems, Man, and Cybernetics (SMC), Melbourne, Australia, October 2021.
  9. A. Mousavi, K. Aryankia, and R. R. Selmic, “Cyber-attack detection in discrete nonlinear multi-agent systems using neural networks,” Proc. the 5th IEEE Conference on Control Technology and Applications (CCTA), San Diego, California, USA, August 2021.
  10. Ernesto F. M. Ferreira, J. Viana da Fonseca Neto, and R. R. Selmic, “Decentralized control for multi-agent system formation based on regular polygons,” 2020 IFAC World Congress, Berlin, Germany, July 2020.
  11. R. Babazadeh and R. R. Selmic, “Distance-based formation control over directed triangulated Laman graphs in 2-D space,” Proc. 59th IEEE Conference on Decision and Control, Jeju Island, Republic of Korea, December 2020.
  12. K. Aryankia and R. R. Selmic, “Neuro-adaptive formation control and target tracking for nonlinear multi-agent systems with time-delay,” the 59th IEEE Conference on Decision and Control, Jeju Island, Republic of Korea, December 2020.
  13. K. Aryankia and R. R. Selmic, “Formation control and target tracking for a class of nonlinear multi-agent systems using neural networks,” Proc. 2020 European Control Conference, Saint Petersburg, Russia, May 2020.
  14. R. Babazadeh, M. Roudneshin, R. R. Selmic, and A. G. Aghdam, “Robust suboptimal output synchronization of nonlinear heterogeneous agents,” Proc. the 2020 American Control Conference, Denver, CO, USA, July 2020.
  15. R. Babazadeh and R. R. Selmic, “Optimal distance-based formation producing control of multi-agent systems with energy constraints and collision avoidance,” Proc. 58th IEEE Conference on Decision and Control, Nice, France, December 2019.
  16. A. Gardner, N. Elhami Fard, and R. R. Selmic, “Classifying unordered feature sets with convolutional deep averaging networks,” Proc. 2019 IEEE International Conference on Systems, Man, and Cybernetics (SMC), Bari, Italy, October 2019.
  17. K. Haratiannejadi, N. Elhami Fard, and R. R. Selmic, “Control of multi-rotor aerial vehicles using hand postures and a smart glove,” Proc. 2019 IEEE International Conference on Systems, Man, and Cybernetics (SMC), Bari, Italy, October 2019.
  18. R. Babazadeh and R. R. Selmic, “Distance-based formation control using SDRE for multi-agents with energy consumption constraints,” Proc. 57th IEEE Conference on Decision and Control, Fontainebleau, Miami Beach, FL, USA, December 2018.
  19. R. K. N. Vaddipalli, R. R. Selmic, and A. K. Rathore, “Multi-layered formation control of autonomous marine vehicles with nonlinear dynamics,” Proc. 44th Annual Conference of the IEEE Industrial Electronics Society (IECON 2018), Washington, D.C., USA, October 2018.
  20. R. Babazadeh and R. R. Selmic, “An optimal displacement-based leader-follower formation control for multi-agent systems with energy consumption constraints,” Proc. 26th Mediterranean Conference on Control and Automation (MED 2018), Zadar, Croatia, June 2018.
  21. A. Salawu, M. Harms, M. O’Neal, R. R. Selmic, F. J. Maldonado, and S. Oonk, “A mobile friendly web-based system for monitoring smart sensors,” Proc. 33rd IEEE I2MTC 2018 – International Instrumentation and Measurement Technology Conference, Houston, Texas, May 2018.
  22. F. J. Maldonado, R. R. Selmic, and F. Figueroa, “Health Electronic Data Sheet (HEDS) for enhanced transducer monitoring, reliability, and safe operation,” Proc. 33rd IEEE I2MTC 2018 – International Instrumentation and Measurement Technology Conference, Houston, Texas, May 2018.
  23. A. Gardner, C. Duncan, J. Kanno, and R. Selmic, “Estimating the distribution of unlabeled, correlated point sets,” Proc. 56th IEEE Conference on Decision and Control, Melbourne, Australia, December 2017.
  24. F. J. Maldonado, S. Oonk, and R. R. Selmic, “Complex System Health Analysis by the Graphical Evolutionary Hybrid Neuro-Observer (GNeuroObs),” Proc. IEEE AUTOTESTCON 2016, Anaheim, California, USA, September 2016.
  25. S. Ramazani, D. Gardner, and R. R. Selmic, “Neural network-based formation control of unmanned vehicles in 3D space,” Proc. 24th Mediterranean Conference on Control and Automation, Athens, Greece, June 2016.
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