Publications
Submitted Journal Articles
Ontology-driven Prompt Tuning for LLM-based Task and Motion Planning [Link to Preprint PDF]
Muhayy Ud Din, Jan Rosell, Waseem Akram, Isiah Zaplana, Maximo A Roa, Lakmal Seneviratne, and Irfan Hussain
Robotics and Automation Letters
Paper Webpage: https://muhayyuddin.github.io/llm-tamp/
A Multi-stage Heading Control Approach for USV Navigation in GNSS-Denied Environments with UAV Cooperation
Muhayy Ud Din, Xiaoyu He, Hailiang Kuang, Waseem Akrama, Defu Lin, Lakmal Seneviratne, Shaoming He, Yihao Dong and Irfan Hussain
Robotic and Autonomous Systems [Link to Preprint PDF]
Benchmarking Vision-Based Object Tracking for USVs in Complex Maritime Environments [Link to Preprint PDF]
Muhayy Ud Din, Ahsan B Bakht, Waseem Akram, Yiaho Dong, Lakmal Seneviratne, Irfan Hussain
IEEE Access
Paper Webpage: https://muhayyuddin.github.io/tracking/
Long-Range Vision-Based UAV-assisted Localization for Unmanned Surface Vehicles
Lyes Saad Soud, Jia Z, Muhayy Ud Din, Defu Lin, Lakmal Seneviratne, Shaoming He, Yihao Dong and Irfan Hussain
Journal of Field Robotics
LiDAR‐Based Autonomous Docking System for Non‐Cooperative Target in GNSS-Denied Marine Environment
Mustofa Basri, Hailiang Kuang, Muhayy Ud Din, Defu Lin,Lakmal Seneviratne, Shaoming He, Yihao Dong and Irfan Hussain
IEEE Transactions on Vehicular Technology
An Aerial Transport System for Manipulation in GNSS-Denied Marine Environment
Jianjun Sun, Zhenwei, Muhayy Ud Din, Defu Lin, Lakmal Seneviratne, Shaoming He, Yihao Dong and Irfan Hussain
Robotics and Automation Letters
Long-Range Vision-Based UAV-assisted Localization for Unmanned Surface Vehicles
Waseem Akram, Siyuan Yang, Hailiang Kuang, Muhayy Ud Din, Defu Lin, Shaoming He, Yihao Dong and Irfan Hussain
Journal of Field Robotics
Heterogeneous Robotic System for Collaborative Manipulation of Large Objects
Mughni Irfan, Chen, Jianjun Sun, Muhayy Ud Din, Defu Lin, Lakmal Seneviratne, Shaoming He, Yihao Dong and Irfan Hussain
Journal of Field Robotics
Published Journal Articles
Aquaculture Defects Recognition via Multi-scale Semantic Segmentation
Waseem. Akram, Taimur. Hassan, H. Toubar, Muhayyuddin, N. Miškovic, Lakmal Seneviratne, Irfan Hussain
Journal of Expert Systems with Applications 2024 Link
MuLA-GAN: Multi-level Attention GAN for Enhanced Underwater Visibility
Ahsan Bakht, Jia, Z. Muhayy Ud Din, Waseem Akram, Lyes Saoud, Lakmal Seneviratne, Irfan Hussain
Journal of Ecological Informatics, Link
Planning Grasping Motions for Humanoid Robots
Jan Rosell, Raul Suarez, Nestor Garcia, and Muhayy Ud Din
Journal of the International Journal of Humanoid Robotics 2020. Link
Towards a Standardized Ontology Framework for Autonomous Robotic Perception and Manipulation
Authors: Mohamed Diab, Akbari Aliakbar, Muhayy Ud Din, Jan Rosell
Journal of Sensors (Sec: Intelligent Sensors), 2019. Link
Randomized Physics-based Motion planning for Grasping in Clutter and Uncertain Environment.
Authors: Muhayyuddin, Mark Moll, Lydia Kavraki, Jan Rosell
IEEE Robotics and Automation Letters, 2018. PDF
κ-TMP: Knowledge-oriented Task and Motion Planning for Multiple Mobile Robots.
Authors: Akbari Aliakbar, Muhayyuddin, Jan Rosell.
Journal of Experimental and Theoretical Artificial Intelligence. 2018 Link
κ-PMP: Enhancing Physics-based Motion Planners with Knowledge-based Reasoning.
Authors: Muhayyuddin, Akbari Aliakbar, Jan Rosell
Journal of Intelligent and Robotic Systems, 2017. Link, PDF
Conference Papers
An Unmanned Heterogeneous Robotic System for Autonomous Maritime Operations in GNSS-Denied Environment
(Best Poster Award)
Muhayy Ud Din, Yihao Dong, Shaoming He, Irfan Hussain
IEEE/RSJ International Conference on Intelligent Robots and Systems, Workshop Paper (IROS 2024)
Vision-Based Autonomous Navigation for Unmanned Surface Vessel in Extreme Marine Conditions
Muhayy Ud Din, B. Ahsan, H. Taimur, A. Waseem, H Ahmed, S. Lakmal, H. Shaoming, L. Defu, and H. Irfan.
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2023) Link
MarineX : Design and Implementation of Unmanned Surface Vessel for Vision Guided Navigation
Muhayy Ud Din, Ahmed Humais, Waseem. Akram, M. Alblooshi, Lakmal. Seneviratne, Irfan. Hussain.
International Conference on Advanced Robotics (ICAR-2023), Abu Dhabi, UAE,
Learning Action-oriented Grasping for Manipulation
Muhayy Ud Din, Muhammad Usman, Imran Zahoor, Wajahat M. Qazi, and Jan Rosell
Proceedings of the 24th IEEE International Conference on Emerging Technologies and Factory Automation, (2019)
Assembly Planning in Cluttered Environments through Heterogeneous Reasoning.
Authors: D. Bebler, M. Pomarlan, A. Akbari, Muhayyuddin, M. Diab, J. Rosell, J. Bateman, and M. Beetz.
KI: Advances in Artificial Intelligence, 2018. Link
Knowledge-oriented Physics-based Motion Planning for Grasping in the Presence of Uncertainty.
Authors: Muhayyuddin, Akbari Aliakbar, Jan Rosell
Robot 2017: Second Iberian Robotics Conference, Springer, Advances in Robotics,
url=https://doi.org/10.1007/978-3-319-70833-1_41. Link
An Ontology Framework for Physics-based Manipulation Planning.
Authors: Mohamed Diab, Muhayyuddin, Akbari Aliakbar, Jan Rosell
Robot 2017: Second Iberian Robotics Conference, Springer, Advances in Robotics,
url=https://doi.org/10.1007/978-3-319-70833-1_37. Link
A Tool for Knowledge-oriented Physics-based Motion Planning and Simulation.
Authors: Muhayyuddin, Akbari Aliakbar, Jan Rosell
Proceedings of the EAI International Conference on Future Intelligent Vehicular Technologies, Springer, 2017. PDF
Physics-based Motion Planning with Temporal Logic Specifications.
Authors: Muhayyuddin, Akbari Aliakbar, Jan Rosell
Proceedings of the World Congress of the International Federation of Automatic Control (IFAC) 2017. Link PDF
Mobile manipulators as robot co-workers: autonomy and interaction in the human-robot collaboration.
Authors: Jan Rosell Gratacòs, Emmanuel Nuño, Josep A Claret, Isiah Zaplana Agut, Néstor García idalgo, Aliakbar Akbari, Muhayyuddin, Leopold Palomo Avellaneda, Alexander Pérez Ruiz, Mas Casals, Orestes Miquel, Luis Basañez Villaluenga. Proceedings of the: Libro de Actas de las Jornadas Nacionales de Robótica 2017.
A knowledge-based planning framework for smart and autonomous manipulation robots
Authors: Jan Rosell, Akbari Aliakbar Muhayyuddin, Mohamed Diab,
SIMPAR 2018 Workshop on Combining Task and Motion Planning in the Frame of Cloud Robotics.
Integrated Task and Motion Planning Using Physics-based Heuristics.
Authors: Akbari Aliakbar, Muhayyuddin, Jan Rosell.
RSS 2016 Workshop on Task and Motion Planning. PDF
Task Planning Using Physics-based Heuristics on Manipulation Actions.
Authors: Akbari Aliakbar, Muhayyuddin, Jan Rosell.
Proceedings of the 20th IEEE International Conference on Emerging Technologies and Factory Automation": 2016. Link
Physics-Based Motion Planning: Evaluation Criteria and Benchmarking.
Authors: Muhayyuddin, A. Akbari and J. Rosell,
Robot 2015: Second Iberian Robotics Conference, Springer, Advances in Robotics, Volume 1 (ISBN 978-3-319-27146-0), pp. 43-55. Link
Reasoning-Based Evaluation of Manipulation Actions for Efficient Task Planning.
Authors: A. Akbari, Muhayyuddin and J. Rosell,
Robot 2015: Second Iberian Robotics Conference, Springer, Advances in Robotics, Volume 1 (ISBN 978-3-319-27146-0), pp. 69-80.Link
Ontological physics-based motion planning for manipulation.
Authors: Muhayyuddin, Akbari Aliakbar, Jan Rosell
Proceedings of the 19th IEEE International Conference on Emerging Technologies and Factory Automation": 2015. Link, PDF
Task and motion planning using physics-based reasoning.
Authors: Akbari Aliakbar, Muhayyuddin, Jan Rosell.
Proceedings of the 19th IEEE International Conference on Emerging Technologies and Factory Automation": 2015. Link
The Kautham Project: A teaching and research tool for robot motion planning.
Authors: Jan Rosell Gratacòs, Alexander Pérez Ruiz, Aliakbar Akbari, Muhayyuddin, Leopold Palomo Avellaneda, Néstor García Hidalgo.
Proceedings of the 19th IEEE International Conference on Emerging Technologies and Factory Automation": 2014. Link
Dissertation
Physics-based Motion Planning for Grasping and Manipulation. Link, PDF