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Hrand Aghazarian


4800 Oak Grove Drive
M/S 198-235

Pasadena, CA 91109

Member of:

347J - Perception Systems

Hrand Aghazarian

Member of Technical Staff


Hrand Aghazarian has extensive work experience in the design and development of real-time embedded software for a variety of avionics systems. Currently he is involved in providing software solutions in the area of software architecture, low-level drivers, motor control, user interfaces for commanding planetary rovers, and navigations.


M.S. in Computer Science, California State University, Northridge, CA, June 1990.
B.S. in Computer Science/Applied Math, California State University, Northridge, CA, June 1987.

Professional Experience

Developed control and navigation software for Unmanned Sea Surface Vehicles (USSV)

Lead Software for High Resolution, Continuous Field of View, Non-Rotating Imaging System
task in the area of high resolution instantaneous 360-degree sensor head control.

Lead Embedded Software Engineer for the Lemur-class robots (Lemur I, IIa, IIb). These
robots are small, limbed, dexterous systems for autonomous inspection and maintenance in

Developed GA software for JPL R&TD Evolutionary Computation Project in the area of
Evolutionary techniques for rover instrument arm control.

Lead Embedded Software, worked on the following robots: FIDO, SRR, SRR2K, and Inflatable
Rover, Lemur I, Lemur IIa, Lemur IIb, and Flight Ground Support FIDO like hardware and
Software, and Mars polar Lander prototype.

Present: Senior Member Technical Staff, Mechanical and Robotic Technologies Group, Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA.
1990-1995: Lead Software Engineer, worked on INS, Air Data, Fault Monitor software for AirBus and Boing air crafts. Litton, APD, Woodland Hills, CA.
1980-1989: Software Engineer, Basic Four, Burbank, CA.

Research Interests

Single/Multi Robot Control, Robotics Software Architecture, Obstacle Avoidance,
Genetic Algorithm,and Path Planning


  1. K. Nickels, B. Kennedy, H. Aghazarian, C. Collins, M. Garrett, A. Okon, J. Townsend, "Vision-Guided Self-Alignment and Manipulation in a Walking Robot," Proceedings, 2006 IEEE International Conference on System of Systems Engineering, 24 April 2006.
  1. A. Stroupe, T. Huntsberger, A. Okon, H. Aghazarian, and M. Robinson, "Behavior-Based Multi-Robot Collaboration for Autonomous Construction Tasks," Proceedings of IROS 2005, 01 January 2005.