​Journal Publications
Riku Murai, Sajad Saeedi, Paul H.J. Kelly
"High-frame-rate Homography and Visual Odometry by Tracking Binary Features from the Focal Plane"
Springer Autonomous Robots, (in press)
https://rmurai.co.uk/projects/BIT-VO/
 Ishaan Mehta, Hao-Ya Hsueh, Sharareh Taghipour, Wenbin Li, Sajad Saeedi
"UVC Disinfection Robots"
Elsevier Robotics and Autonomous Systems, 161,104332, (2023),
https://doi.org/10.1016/j.robot.2022.104332
https://sites.google.com/view/g-robot/home
Edward Stow, Abrar Ahsan, Yingying Li, Ali Babaei, Riku Murai, Sajad Saeedi, Paul H.J. Kelly
"Compiling CNNs with Cain: focal-plane processing for robot navigation"
Springer Autonomous Robots, 46, 893–910 (2022), doi.org/10.1007/s10514-022-10053-w
sites.google.com/view/cain-compiler/home
Hao-Ya Hsueh, Alexandru-Iosif Toma, Hussein Ali Jaafar, Edward Stow, Riku Murai, Paul H.J. Kelly, Sajad Saeedi
"Systematic Comparison of Path Planning Algorithms using PathBench"
Advanced Robotics, 36(11), (2022), https://doi.org/10.1080/01691864.2022.2062259
https://arxiv.org/abs/2203.03092
https://sites.google.com/view/pathbench/
Riku Murai, Joseph Ortiz, Sajad Saeedi, Paul HJ Kelly, Andrew J Davison
"A Robot Web for Distributed Many-Device Localisation"
Feb 2022 https://arxiv.org/abs/2202.03314
https://twitter.com/rmurai0610/status/1491439019301142532
video: https://www.youtube.com/watch?v=xQcYwONtMN0
Jack Saunders, Sajad Saeedi, Wenbin Li
"Autonomous Aerial Delivery Vehicles, a Survey of Techniques on how Aerial Package Delivery is Achieved"
arXiv preprint arXiv:2110.02429
Oct 2021
https://arxiv.org/abs/2110.02429
Thomas Debrunner, Sajad Saeedi, Paul H J Kelly,
"AUKE: Automatic Kernel Code Generation for an Analogue SIMD Focal-Plane Sensor-Processor Array"
ACM Transactions on Architecture and Code Optimization, 15(4), pp. 59:1-59:26, 2019
[PDF][AUKE CODE][Simulator CODE][VIDEO]
Sajad Saeedi, Bruno Bodin, Harry Wagstaff, Andy Nisbet, Luigi Nardi, John Mawer, Nicolas Melot, Oscar Palomar, Emanuele Vespa, Tom Spink, Cosmin Gorgovan, Andrew Webb, James Clarkson, Erik Tomusk, Thomas Debrunner, Kuba Kaszyk, Pablo Gonzalez-de-Aledo, Andrey Rodchenko, Graham Riley, Christos Kotselidis, Bjorn Franke, Michael F. P. O'Boyle,  Andrew J. Davison, Paul H. J. Kelly, Mikel Lujan, and Steve Furber,
"Navigating the Landscape for Real-time Localisation and Mapping for Robotics Virtual and Augmented Reality"
Proceedings of the IEEE,106(11), pp. 2020-2039, 2018 [PDF]
Sajad Saeedi, Carl Thibault, Michael Trentini, and Howard Li,
"3D Mapping for Autonomous Quadrotor Aircraft", 
Unmanned Systems,
5(3), pp. 1-16, 2017
[LINK]
Sajad Saeedi, Michael Trentini, Mae Seto, and Howard Li, 
"Multiple-robot Simultaneous Localization and Mapping - A Review", 
Journal of Field Robotics,
33(1), pp. 3-46, 2016 [PDF] [BIB]
Sajad Saeedi, Carl Thibault, Michael Trentini, and Howard Li,
"The COBRA Fixed-wing Georeferenced Imagery Dataset", 
International Journal of Intelligent Unmanned Systems,
3(2), pp. 62-71, 2015
[PDF][BIB][DATA]
Sajad Saeedi, Amr Nagaty, Carl Thibault, Michael Trentini, Howard Li,
"Perception and Navigation for an Autonomous Quadrotor in GPS-denied Environments", 
International Journal of Robotics and Automation, 
31(6), 2016
[PDF][BIB][VIDEO1][VIDEO2][VIDEO3][VIDEO4][VIDEO5]
Sajad Saeedi, Liam Paull, Michael Trentini, Mae Seto, and Howard Li,
"Map Merging for Multiple Robots Using Hough Peak Matching",
Robotics and Autonomous Systems,
62(10), pp. 1408–1424, 2014
[PDF] [BIB]
Sajad Saeedi, Liam Paull, Michael Trentini, and Howard Li,
"Occupancy Grid Map Merging for Multiple-robot Simultaneous Localization and Mapping",
International Journal of Robotics and Automation, 
30 (2), pp. 149-157, 2015
[PDF] [BIB]
Sajad Saeedi, Liam Paull, Michael Trentini, and Howard Li,
"Group Mapping: A Topological Approach to Map Merging for Multiple Robots",
IEEE Robotics and Automation Magazine,
21(2), pp. 60-72. 2014
[PDF] [BIB]
Sajad Saeedi, Liam Paull, Mike Trentini, Howard Li,
"Neural Network-based Multiple-robot Simultaneous Localization and Mapping",
IEEE Transactions on Neural Networks,
22(12), pp. 2376-2387, 2012
[PDF] [BIB]
Amr Nagaty, Sajad Saeedi, Carl Thibault, Mae Seto, Howard Li,
"Control and Navigation Framework for Quadrotor Helicopters",
Journal of Intelligent and Robotic Systems,
70(1-4), pp. 1-12, 2013
[PDF] [BIB][CODE]
Liam Paull, Sajad Saeedi, Mae Seto, Howard Li,
"AUV Navigation and Localization - A Review", 
IEEE Journal of Oceanic Engineering,
39(1), pp. 131 149, 2014
[PDF] [BIB]
Liam Paull, Sajad Saeedi, Mae Seto, Howard Li,
"Sensor-Driven Online Coverage Planning for Autonomous Underwater Vehicles",
IEEE/ASME Transactions on Mechatronics,
18(6), pp. 1827-1838, 2013
[PDF] [BIB]
B. Bayat, J. Bermejo-Alonso, J. Carbonera, T. Facchinetti, S. Fiorini, P. Goncalves, V. A.M. Jorge, M. Habib, A. Khamis, K. Melo, B Nguyen, J. Isabelle Olszewska, L. Paull, E. Prestes, V. Ragavan, S. Saeedi, R. Sanz, M. Seto, B. Spencer, A. Vosughi, H. Li
"Requirements for building an ontology for autonomous robots",
Industrial Robot
43(5), pp. 469-480, 2016
Mehdi Monemi, Sajad Saeedi,
"Robust Window-Based Active Queue Management Based on H-infinity Control",
International Journal of Information Science and Technology,
4(1), pp. 13-22, 2006
[PDF] [BIB]
​Book Chapters
Liam Paull, Mae Seto, Sajad Saeedi, John Leonard 
"Navigation for Underwater Vehicles"
Encyclopedia of Robotics​
Springer, 2018
[link]
​Liam Paull, Sajad Saeedi, Howard Li,
"Path Planning for Autonomous Underwater Vehicles",
in Autonomy for Marine Robots,
Editor: Dr. Mae Seto.
pp. 177-224, Springer 2012.
[link]
Mae Seto, Liam Paull, Sajad Saeedi,
"Introduction to Autonomy for Marine Robots",
in Autonomy for Marine Robots,
Editor: Dr. Mae Seto,
pp. 1-46, Springer 2012.
[link]
Refereed Conference Publications
Jack Saunders, Sajad Saeedi, Wenbin Li
"Parallel Reinforcement Learning Simulation for Visual Quadrotor Navigation"
IEEE/RSJ International Conference on Robotics and Automation (ICRA)​
London, UK, May 29 - June 2, 2023
https://sites.google.com/view/prl4airsim/home
Ishaan Mehta, Sharareh Taghipour, Sajad Saeedi
"Pareto Frontier Approximation Network (PA-Net) to Solve Bi-objective TSP" 
IEEE International Conference on Automation Science and Engineering (CASE)
Mexico City, Mexico, August 20-24, 2022 
https://sites.google.com/view/pa-net-btsp
Ibrahim Abdulhafiz, Ali A Nazari, Taha Abbasi-Hashemi, Amir Jalali, Kourosh Zareinia, Sajad Saeedi, Farrokh Janabi-Sharifi
"Deep Direct Visual Servoing of Tendon-Driven Continuum Robots"
IEEE International Conference on Automation Science and Engineering (CASE)
Mexico City, Mexico, August 20-24, 2022 
https://arxiv.org/abs/2111.02580
Ishaan Mehta, Hao-Ya Hsueh, Nikolaos Kourtzanidis, Sajad Saeedi
"Far-UV Disinfection with Mobile Manipulator Robotic System" 
IEEE International Symposium on Medical Robotics (ISMR)
Georgia, USA, April 13-15, 2022 
https://sites.google.com/view/g-robot/home
Alexandru-Iosif Toma, Hao-Ya Hsueh, Hussein Ali Jaafar, Riku Murai, Paul H.J. Kelly, Sajad Saeedi
"PathBench A Benchmarking Platform for Classical and Learned Path Planning Algorithms" 
18th Conference on Robots and Vision (CRV)
Burnaby, BC, Canada, May 26-28, 2021
https://sites.google.com/view/pathbench/
Alexandru-Iosif Toma, Hussein Ali Jaafar, Hao-Ya Hsueh, Stephen James, Daniel Lenton, Ronald Clark, Sajad Saeedi
"Waypoint Planning Networks (WPN)"
18th Conference on Robots and Vision (CRV)
Burnaby, BC, Canada, May 26-28, 2021
https://sites.google.com/view/waypoint-planning-networks
Edward Stow, Riku Murai, Sajad Saeedi, and Paul HJ Kelly
"Cain: Automatic Code Generation for Simultaneous Convolutional Kernels on Focal-plane Sensor-processors"
Languages and Compilers for Parallel Computing (LCPC),
Stony Brook, NY, USA, Oct 14-16, 2020,
https://arxiv.org/abs/2101.08715
[CODE][LINK]
Riku Murai, Sajad Saeedi, and Paul HJ Kelly
"BIT-VO: Visual Odometry at 300 FPS using Binary Features from the Focal Plane"
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),
Las Vegas, NV, USA, Oct 25-29, 2020
https://arxiv.org/abs/2004.11186
[VIDEO][LINK]
Matthew Z Wong, Benoit Guillard, Riku Murai, Sajad Saeedi, and Paul HJ Kelly
"AnalogNet: Convolutional Neural Network Inference on Analog Focal Plane Sensor Processors"
arXiv:2006.01765
[PDF][CODE]
Sajad Saeedi, Eduardo DC Carvalho, Wenbin Li, Dimos Tzoumanikas, Stefan Leutenegger, Paul HJ Kelly, Andrew J Davison
"Characterizing Visual Localization and Mapping Datasets"
IEEE/RSJ International Conference on Robotics and Automation (ICRA)​
Montreal, Canada, May 20-24, 2019
[PDF][VIDEO][LINK]

Mihai Bujanca, Paul-Adrian Gafton, Sajad Saeedi, Andrew Nisbet, Bruno Bodin, Michael F P O’Boyle, Andrew J Davison, Paul H J Kelly, Graham Riley, Barry Lennox, Mikel Luján, Steve Furber
"SLAMBench 3.0: Systematic Automated Reproducible Evaluation of SLAM Systems for Robot Vision Challenges and Scene Understanding"
IEEE/RSJ International Conference on Robotics and Automation (ICRA)​
Montreal, Canada, May 20-24, 2019 
[PDF]

Thomas Debrunner, Sajad Saeedi, Laurie Bose, Andrew J Davison, Paul H J Kelly,
"Camera Tracking on  Focal-Plane Sensor-Processor Arrays"
High Performance and Embedded Architecture and Compilation (HiPEAC),
Workshop on Programmability and Architectures for Heterogeneous Multicores (MULTIPROG)
Valencia, Spain, January 21-23, 2019
[PDF][VIDEO1][VIDEO2]

Thomas Debrunner, Sajad Saeedi, Paul H J Kelly,
"AUKE: Automatic Kernel Code Generation for an Analogue SIMD Focal-Plane Sensor-Processor Array"
High Performance and Embedded Architecture and Compilation (HiPEAC),
Valencia, Spain, January 21-23, 2019
[PDF][AUKE CODE][Simulator CODE][VIDEO]
Wenbin Li, Sajad Saeedi, John McCormac, Ronald Clark, Dimos Tzoumanikas, Qing Ye, Yuzhong Huang, Rui Tang, Stefan Leutenegger
"InteriorNet: Mega-scale Multi-sensor Photo-realistic Indoor Scenes Dataset"
British Machine Vision Conference (BMVC)
Newcastle upon Tyne, UK, September 3 - 25, 2018
[PDF][LINK]
Bruno Bodin, Harry Wagstaff, Sajad Saeedi, Luigi Nardi, Emanuele Vespa, John Mawer, Andy Nisbet, Mikel Lujan, Steve Furber, Andrew J. Davison, Paul Kelly, and Michael F. P. O'Boyle,
"SLAMBench2: Multi-Objective Head-to-Head Benchmarking for Visual SLAM"
IEEE International Conference on Robotics and Automation (ICRA)
Brisbane, Australia, May 21 -  25, 2018
[PDF][LINK]
Sajad Saeedi, Luigi Nardi, Edward Johns, Bruno Bodin, Paul H J Kelly, Andrew J Davison,
"Application-oriented Design Space Exploration for SLAM Algorithms", 
IEEE International Conference on Robotics and Automation (ICRA),
Singapore, May 29 - June 3, 2017
[PDF] [BIB][VIDEO]
Sajad Saeedi, Amr Nagaty, Carl Thibault, Michael Trentini, Howard Li,
"3D Mapping and Navigation for Autonomous Rotorcraft", 
IEEE Canadian Conference on Electrical and Computer Engineering (CCECE), 
Vancouver, BC, Canada, May 15 -18, 2016
[PDF] [BIB]
Sajad Saeedi, Carl Thibault, Amr Nagaty, Michael Trentini, Howard Li,
"The COBRA Heterogenous Multiple-robot Localization and Mapping Dataset", 
IEEE Canadian Conference on Electrical and Computer Engineering (CCECE), 
Vancouver, BC, Canada, May 15 -18, 2016
[PDF] [BIB][DATA]
​​Sajad Saeedi, Michael Trentini, Howard Li,
"Hybrid Approach for Multiple-robot SLAM with Particle Filtering", 
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),
Hamburg, Germany, Sep 28- Oct 2, pp. 3421 - 3426, 2015
[PDF] [BIB][SLIDES]
Sajad Saeedi, Mae Seto, Howard Li,
"Fast Monte Carlo Localization of AUV Using Acoustic Range Measurement", 
IEEE Canadian Conference on Electrical and Computer Engineering (CCECE),
Halifax, NS, Canada, May 3-6, pp. 326-331, 2015
[PDF] [BIB][SLIDES][VIDEO]
Sajad Saeedi, Amr Nagaty, Carl Thibault, Michael Trentini, Howard Li,
"Perception and Navigation for Autonomous Rotorcraft", 
International Conference on Intelligent Unmanned Systems (ICIUS), 
Montreal, QC, Canada, Sep 29 - Oct 1, 2014
[PDF] [BIB][SLIDES][VIDEO1][VIDEO2][VIDEO3][VIDEO4][VIDEO5]
Sajad Saeedi, Liam Paull, Michael Trentini, Mae Seto, Howard Li,
"Map Merging Using Hough Peak Matching", 
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),
Vilamoura, Algarve, Portugal, Oct 7-12, pp. 4683-4688, 2012
[PDF] [BIB][SLIDES][CODE]
Sajad Saeedi, Liam Paull, Michael Trentini, Mae Seto, Howard Li,
"Efficient Map Merging Using a Probabilistic Generalized Voronoi Diagram", 
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),
Vilamoura, Algarve, Portugal, Oct 7-12, pp. 4419-4424, 2012
[PDF] [BIB][CODE]
Sajad Saeedi, Liam Paull, Michael Trentini, Howard Li,
"Neural Network-based Multiple-robot Simultaneous Localization and Mapping", 
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),
San Francisco, CA, USA, Sept 25-30, pp. 880-885, 2011
[PDF] [BIB][SLIDES]
Sajad Saeedi, Liam Paull, Michael Trentini, Howard Li,
"Multiple-robot Simultaneous Localization and Mapping", 
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),
San Francisco, CA, USA, Sept 25-30, pp. 853-888, 2011
[PDF] [BIB][SLIDES]
Sajad Saeedi, Mohammad Beheshti,
"Optimal Design of Rotating Sliding Surface for Sliding Mode Control", 
American Control Conference (ACC),
St. Louis, MO, USA, June 10-12, pp. 774-777, 2009
[PDF] [BIB][SLIDES][CODE]
Luigi Nardi, Bruno Bodin, Sajad Saeedi, Emanuele Vespa, Andrew J Davison, Paul H J Kelly
"Algorithmic Performance-Accuracy Trade-off in 3D Vision Applications Using HyperMapper", 
International Workshop on Automatic Performance Tuning (iWAPT), hosted by IEEE International Parallel and Distributed Processing Symposium (IEEE IPDPS)
Orlando, FL, USA, May 29 - June 2, 2017 [arXiv]
Sajad Saeedi, Mohammad Beheshti, Mehdi Monemi,
"Active Queue Management (AQM) for TCP/IP networks Using Discrete Time Sliding Mode Control (DSMC)", 
IEEE Conference on Control Applications (CCA),
Toronto, ON, Canada, Aug 28-30, pp. 727-730, 2005
[PDF] [BIB]
Amr Nagaty, Sajad Saeedi, Carl Thibault, Mae Seto and Howard Li,
"Control and Navigation Framework for Quadrotor Helicopters", 
International Conference On Unmanned Aircraft Systems (ICUAS), 
Montreal, QC, Canada, June 12 - June 15, 2012
[PDF] [BIB][CODE]
Liam Paull, Sajad Saeedi, Mae Seto, Howard Li,
"Sensor Driven Online Coverage Planning for Autonomous Underwater Vehicles", 
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),
Vilamoura, Algarve, Portugal, Oct 7-12, pp. 2875-2880, 2012
[PDF] [BIB]
Liam Paull, Gaetan Severac, Guilherme V. Ra o, Julian M. Angel, Harold Boley, Maki K. Habib, Bao Nguyen, Veera R. S. Kumar, Sajad Saeedi, Ricardo Sanz, Mae Seto, Aleksandar Stefanovski, Michael Trentini, Howard Li,
"Towards An Ontology for Autonomous Robots", 
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),
Vilamoura, Algarve, Portugal, Oct 7-12, pp. 1359-1364, 2012. [PDF] [BIB]
Liam Paull, Sajad Saeedi, Mae Seto, Howard Li,
"A Multi-agent Framework with MOOS-IvP for Autonomous Underwater Vehicles with Sidescan Sonar Sensors", 
International Conference on Autonomous and Intelligent Systems (AIS),
Burnaby, BC, Canada, June 22-24, pp. 41-50, 2011
[PDF] [BIB]
Liam Paull, Sajad Saeedi, Howard Li, Vincent Myers,
"An Information Gain Based Adaptive Path Planning Method for an Autonomous Underwater Vehicle Using Sidescan Sonar", 
IEEE Conference on Automation Science and Engineering (CASE),
Toronto, ON, Canada, Aug 21-24, pp. 835-840, 2010
[PDF] [BIB]

Patents:

[P1] Jason G. Gillham, Christopher A Gilson, Sajad Saeedi, Shawn O. Satchell
"Optical Guide Assembly and System Including Same",
United States Patent and Trademark Office, 2017
International Application No: PCT/CA2017/050010
PhD Thesis:

​

Sajad Saeedi,
"Multiple-robot Simultaneous Localization and Mapping",
University of New Brunswick, 2014
[PDF]