Research Direction

I study swarm robotics in theory, simulation and on real hardware. The goal of my research is to find navigation strategies of individual robots with local communication which lead to optimal behaviour for large groups of agents.

Publications

• Sebastian Mai, Tobias Benecke and Sanaz Mostaghim
• MACO: A Real-World Inspired Benchmark for Multi-objective Evolutionary Algorithms
• In the Proceedings of Evolutionary Multi-Criterion Optimization. EMO 2023, Lecture Notes in Computer Science, vol 13970. Pages 305 - 318. Springer, Cham., https://doi.org/10.1007/978-3-031-27250-9_22

• Sebastian Mai and Sanaz Mostaghim
• Collective Decision-making for Conflict Resolution in Multi-Agent Pathfinding
  
• Swarm Intelligence. ANTS 2022. Lecture Notes in Computer Science, vol 13491. Springer, Cham. https://doi.org/10.1007/978-3-031-20176-9_7 

• Sebastian Mai and Sanaz Mostaghim
• Multi-Objective Roadmap Optimization for Multiagent Navigation
• 2022 IEEE Congress on Evolutionary Computation (CEC), 2022, doi: 10.1109/CEC55065.2022.9870300.

• Sebastian Mai, Nele Traichel and Sanaz Mostaghim
• Driving Swarm: A Swarm Robotics Framework for Intelligent Navigation in a Self-organized World
  
• Accepted at IEEE International Conference on Robotics and Automation (ICRA), May 23-27, 2022, Philadelphia (PA), USA
• https://ieeexplore.ieee.org/document/9811852

• Sanaz Mostaghim and Sebastian Mai

• Kooperation mittels Schwarmintelligenz
• In Haux R, Gahl K, Jipp M, Kruse R, Richter O, Herausgeber. Zusammenwirken von natürlicher und künstlicher Intelligenz. Pages 55-69, Wiesbaden: Springer VS; 2021 --> https://link.springer.com/chapter/10.1007/978-3-658-30882-7_5

• Sebastian Mai and Sanaz Mostaghim 
• Modelling Pathfinding for Swarm Robotics
• In: Dorigo M. et al. (eds) Swarm Intelligence. ANTS 2020. Lecture Notes in Computer Science, vol 12421. Springer, Cham. 2020.
• https://doi.org/10.1007/978-3-030-60376-2_15

• Jens Weise, Sebastian Mai, Heiner Zille and Sanaz Mostaghim
• On the Scalable Multi-Objective Multi-Agent Pathfinding Problem

• 2020 IEEE Congress on Evolutionary Computation, CEC 2020 - Conference Proceedings

• 10.1109/CEC48606.2020.9185585

• Sebastian Mai, Heiner Zille, Christoph Steup and Sanaz Mostaghim
• Online Optimization of Movement Cost for Robotic Applications of PSO
• Published at EPIA conference on Artificial Intelligence 2019, September 2019
• https://link.springer.com/chapter/10.1007%2F978-3-030-30244-3_26

• Sebastian Mai, Heiner Zille, Christoph Steup and Sanaz Mostaghim 
• Multi-Objective Collective Search and Movement-based Metrics in Swarm Robotics
• ACM Genetic and Evolutionary Computation Conference (GECCO) Companion, Pages 387-388, ACM, Prague, Czech Republic, July 2019 --> Link

• Sebastian Mai, Christoph Steup and Sanaz Mostaghim 
• Movement-based Localisation for PSO-inspired Search Behaviour of Robotic Swarms
• Accepted at the 11th International Conference on Swarm Intelligence (ANTS 2018), Rome, Italy, October 2018

• Sebastian Mai, Christoph Steup and Sanaz Mostaghim 
• Simultaneous Localisation and Optimisation for Swarm Robotics
• Accepted at 2018 IEEE Symposium Series on Computational Intelligence (SSCI), December 2018

Profiles on other Sites

https://orcid.org/0000-0002-2255-3277

•  Researchgate

Lectures and Tutorials

• Tutorials for Swarm Intelligence Winter 2018/19
• Seminar Swarm Robotics, Summer 2019
• Team Project Driving Swarm, Summer 2019
• Tutorial for Swarm Intelligence Winter 2019/20
• DE-Project: Multi-Robot Navigation for Driving Swarm Winter 2019/20
• Team Project: Localisation and Sensor fusion in Driving Swarm Winter 2019/2020
• Seminar "Hot Topics in Computational Intelligence" Bachelor, Summer 2020
• Seminar "Hot Topics in Computational Intelligence" Master, Summer 2020
• Tutorials for Swarm Intelligence Winter 2020/21
• Teamproject: Perception and Representation of Obstacles in Driving Swarm, Winter 2020/2021
• Teamproject: Evolutionary Robotics with Driving Swarm, Winter 2020/2021
• Tutorials for Swarm Intelligence, Winter 2021/2022
• Tutorial Introduction to Robotics, Summer 2022
• Tutorial Introduction to Robotics, Summer 2023
• Tutorial Computational Intelligence in Games, Summer 2023
• Tutorials for Swarm Intelligence, Winter 2023/2024
• Tutorial Introduction to Robotics, Summer 2024
• Tutorial Computational Intelligence in Games, Summer 2024

Supervision of Thesis Projects

• Nele Raya Traichel
• Context Steering with Differential-Drive Robots: Reactive Navigation based on Multi-Objective Decision-Making
  
• Master Thesis, OVGU
• Supervision: Sanaz Mostaghim 
• Advisor: Sebastian Mai
• June 2022

• Alexander Tracht
• Optimising for Win-Win Situations in Multi-Objective Decision Making with multiple Decision Makers
  
• Master Thesis, OVGU
• Supervision: Sanaz Mostaghim 
• Advisor: Sebastian Mai
• May 2022

• Maximilian Deubel
• Optimized Roadmaps for Multi-Agent Pathfinding
  
• Master Thesis, OVGU
• Supervision: Sanaz Mostaghim 
• Advisor: Sebastian Mai
• March 2022

• Jonathan Beckhaus
• Passive TDOA Localization in Multi Hop Scenarios using Ultra Wide Band Communication
• Master Thesis, OVGU
• Supervision: Sanaz Mostaghim 
• Advisor: Sebastian Mai and Christoph Steup
• February 2022

• Viviane Wolters

• Promoting Cooperative Behavior with Collective Decision-Making in Highway-Based Multi-Agent Pathfinding
• Master Thesis, OVGU

• Supervision: Sanaz Mostaghim 
• Advisor: Sebastian Mai
• November 2021

• Hans Ulrich Bätjer

• Optimization of Trajectories For Vehicle Models in Multi-Robot Search

• Master Thesis, OVGU
• Supervision: Sanaz Mostaghim 
• Advisor: Sebastian Mai
• February 2021

• Kevin Kellermann

• Multi-Objective Optimization of Multi-Agent Path Planning using a Co-evolutionary Genetic Algorithm
• Master Thesis, OVGU
• Supervision: Sanaz Mostaghim
• Advisor: Jens Weise and Sebastian Mai
• January 2021

• Alexander Tracht
• Evolutionary State-Machine Robotics on TurtleBot3
• Bachelor Thesis, OVGU
• Supervision: Sanaz Mostaghim
• Advisor: Sebastian Mai
• September 2020

• Nico Winkelsträter
• Virtual Pheromone for Swarm Robotic Navigation
• Bachelor Thesis, OVGU
• Supervision: Sanaz Mostaghim
• Advisor: Sebastian Mai
• December 2019

• Jonathan Beckhaus

• Design of a Test Setup for Three Dimensional Indoor Positioning Systems

• Bachelor Thesis, OVGU
• Supervision: Sanaz Mostaghim
• Advisor: Sebastian Mai
• July 2019

• Markus Hempel 
• Programming and Evaluation of an Ultra-Wideband Distance Measurement System for Mobile Robots
• Bachelor Thesis, OVGU
• Supervision: Sanaz Mostaghim
• Advisor: Christoph Steup and Sebastian Mai
• February 2019