Zeynab Talebpour



GR A2 465 (Building GR)
Station 2
CH-1015 Lausanne
Phone: +41 21 693 57 38
[email protected]

Short Biography

I am currently a postdoctoral researcher at DISAL working on interactive human-aware multi-robot coordination. I received my Ph.D. degree in robotics, control and intelligent systems from EPFL in 2018. During my Ph.D. research at DISAL, I developed an end-to-end framework for cooperative human-aware navigation and coordination of multi-robot systems in social environments. I received my M.Sc. in machine learning and robotics in 2012 and my B.Sc. in computer software engineering in 2009 from University of Tehran. More information about me can be found in the following:

Research Interests and Projects

My research interests include social robotics, multi-robot systems, human-aware navigation and coordinated motion, machine learning, and human-robot interaction. I was a member of the European project of MOnarCH from 2014 to 2016. The main focus of my research has been on the challenges of real, noisy, dynamic and stochastic human-populated environments. Namely, perception and prediction limitations and uncertainties that affect the social cost modeling, bid estimation, coordination and replanning. More information about my research can be found here.

Teaching and Service Activities

I have been involved in teaching since 2006 starting from the advanced programming (AP) course at University of Tehran. I have served as head TA and TA in the Signals, Instruments, and Systems (SIS), and Distributed Intelligent Systems (DIS) courses at DISAL since 2013. I particularly enjoy supervising and collaborating with students on topics relevant to my research. Projects on (interactive) multi-robot task allocation, 3D pose estimation with RGB-D cameras using OpenPose, UWB-based human tracking, path-planning and task assignment solutions for multiple warehouse robots, and optimal path planning and coverage control for multi-robot persistent coverage are among the projects that I have supervised. More information about these projects can be found here. I have also been extensively involved in the review process of robotics journals and conferences since 2016.



Adaptive Risk-Based Replanning For Human-Aware Multi-Robot Task Allocation With Local Perception

Z. Talebpour; A. Martinoli 

IEEE Robotics And Automation Letters. 2019-10-01. Vol. 4, num. 4, p. 3790-3797. DOI : 10.1109/LRA.2019.2926966.


A Framework for Cooperative Human-Aware Navigation and Coordination of Multi-Robot Systems in Social Environments

Z. Talebpour / A. Martinoli (Dir.)  

Lausanne, EPFL, 2018. 

Risk-Based Human-Aware Multi-Robot Coordination in Dynamic Environments Shared with Humans

Z. Talebpour; A. Martinoli 

2018. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, 1-5 October, 2018. p. 3365-3372. DOI : 10.1109/IROS.2018.8593586.

Multi-Robot Coordination in Dynamic Environments Shared with Humans

Z. Talebpour; A. Martinoli 

2018. IEEE International Conference on Robotics and Automation (ICRA), Brisbane, Queensland, Australia, May 21-25, 2018. p. 4593-4600. DOI : 10.1109/ICRA.2018.8460978.


Market-based Coordination in Dynamic Environments Based on Hoplites Framework

Z. Talebpour; S. Savarè; A. Martinoli 

2017. The 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017), Vancouver, British Columbia, Canada, September 24–28, 2017. p. 1105-1112. DOI : 10.1109/IROS.2017.8202281.

Automatic Calibration of Ultra Wide Band Tracking Systems Using A Mobile Robot: A Person Localization Case-study

A. Canepa; Z. Talebpour; A. Martinoli 

2017. The International Conference on Indoor Positioning and Indoor Navigation (IPIN 2017), Sapporo, Japan, September 18-21, 2017. DOI : 10.1109/IPIN.2017.8115905.

Optimal Path Planning and Coverage Control for Multi-Robot Persistent Coverage in Environments with Obstacles

J. M. Palacios-Gasos; Z. Talebpour; E. Montijano; C. Sagues; A. Martinoli 

2017. International Conference on Robotics and Automation, Singapore, May 29- June 3, 2017. p. 1321-1327. DOI : 10.1109/ICRA.2017.7989156.


Incorporating Perception Uncertainty in Human-Aware Navigation: A Comparative Study

Z. Talebpour; D. Viswanathan; R. Ventura; G. Englebienne; A. Martinoli 

2016. the IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), NewYork city, NewYork, USA, AUGUST 26 – 31, 2016. p. 570-577. DOI : 10.1109/ROMAN.2016.7745175.


On-Board Human-Aware Navigation for Indoor Resource-Constrained Robots: A Case-Study with the Ranger

Z. Talebpour; I. Navarro Oiza; A. Martinoli 

2015. 2015 IEEE/SICE International Symposium on System Integration, Nagoya, Japan, December 11-13, 2015. p. 63-68. DOI : 10.1109/SII.2015.7404955.


A Comparison of PSO and Reinforcement Learning for Multi-Robot Obstacle Avoidance

E. Di Mario; Z. Talebpour; A. Martinoli 

2013. IEEE Congress on Evolutionary Computation, Cancún, México, June 20-23, 2013. p. 149-156. DOI : 10.1109/CEC.2013.6557565.


Budgeted Knowledge Transfer for State-wise Heterogeneous RL Agents

F. Farshidian; Z. Talebpour; M. Nili Ahmadabadi 

2012. 19th International Conference, ICONIP 2012, Doha, Qatar, November 12-15, 2012. p. 439-446. DOI : 10.1007/978-3-642-34475-6_53.