• Evaluation of Autonomous Vehicle Sensing and Compute Load on a Chassis Dynamometer, Brown, N.E., Motallebiaraghi, F., Ekti, A.R., Rojas, C.W.J., and Ayantayo, S., 26th IEEE International Conference on Intelligent Transportation Systems ITSC 2023, IEEE
  Technical Paper
• Road Snow Coverage Estimation Using Camera and Weather Infrastructure Sensor Inputs, Parth Kadav, Nicholas A Goberville, Kyle Prins, Amanda Siems-Anderson, Curtis Walker, Farhang Motallebiaraghi, Kyle Carow, Johan Fanas Rojas, Guan Yue Hong and Zachary Asher, 2023 SAE World Congress Experience
  Technical Paper
• Projecting Lane Lines from Proxy High-Definition Maps for Automated Vehicle Perception in Road Occlusion Scenarios, Kyle Carow, Parth Kadav, Pritesh Patil, Johan F. Rojas, and Zachary Asher, 2023 SAE World Congress Experience
  Technical Paper
• Quantitative Resilience Assessment of GPS, IMU, and LiDAR Sensor Fusion for Vehicle Localization Using Resilience Engineering Theory, Johan Fanas Rojas, Parth Kadav, Nicolas Brown, Rick Meyer, Thomas Bradley, Zachary D. Asher, 2023 SAE World Congress
  Technical Paper
• An Ultra-Light Heuristic Algorithm for Autonomous Optimal Eco-Driving, Aaron I Rabinowitz, Farhang Motallebiaraghi, Rick Meyer, Zachary Asher, Ilya Kolmanovsky, Thomas Bradley, 2023 SAE World Congress Experience
  Technical Paper
• Vehicle Lateral Offset Estimation Using Infrastructure Information for Reduced Compute Load, S Sharma, JF Rojas, AR Ekti, CR Wang, Z Asher, R Meyer, SAE Technical Paper
  Technical Paper
• Autonomous Eco-Driving Evaluation of an Electric Vehicle on a Chassis Dynamometer, F Motallebiaraghi, A Rabinowitz, JF Rojas, P Kadav, DA Miller, T Bradley, .SAE
  Technical Paper
• Energy Efficient Autonomous Vehicle Operation During Various Weather Conditions, CL Walker, AR Siems-Anderson, ZD Asher, P Kadav, F Motallebiaraghi, 103rd AMS Annual Meeting
  Abstract
• Snow Coverage Estimation Using Camera Data for Automated Driving Applications, Nicholas A. Goberville, Kyle R. Prins, Parth Kadav, Curtis L. Walker, Amanda R. Siems-Anderson, Zachary D. Asher, Transportation Research Interdisciplinary Perspectives
  Open Source Link

• Tire Track Identification: Application of U-Net Deep Learning Model for Drivable Region Detection in Snow Occluded Conditions, Parth Kadav, Nicholas Goberville, Farhang Motallebiaraghi, Alvis Fong, and Zachary D. Asher, Intelligent Transportation Systems World Congress
  Technical Paper
• Development and Evaluation of Chip-Enabled Raised Pavement Markers for Lane Line Detection, Sachin Sharma, Richard T. Meyer, Ali Riza Ekti, Johan F. Rojas, Nicolas E. Brown, Zachary D. Asher, David Pesin, Chieh (Ross) Wang, Shean Huff and Tim J. Laclair, IEEE Sensors
  Technical Paper
• Vehicle Performance Analysis of a Wheelchair Accessible Autonomous Electric Shuttle, Johan Fanas Rojas, Kamolnat Tabattanon, Nicholas A. Goberville, Clive D’Souza, Zachary D. Asher, SAE Technical Paper
  Technical Paper
• Development of an Energy Efficient and Cost Effective Autonomous Vehicle Research Platform, Nicholas E. Brown, Johan F. Rojas, Nicholas A. Goberville, Hamzeh Alzubi, Qusay AlRousan, Chieh (Ross) Wang, Shean Huff, Jackeline Rios-Torres, Ali Riza Ekti, Tim J. LaClair, Richard Meyer, and Zachary D. Asher, Sensors
  Technical Paper
• Model in the loop control strategy evaluation procedure for an autonomous parking lot sweeper, Johan Fanas Rojas, Yifan Wei, Zachary Asher, Yong Sun, 2022 SAE World Congress Experience
  Technical Paper
• Tire Track Identification: A Method for Drivable Region Detection in Conditions of Snow-Occluded Lane Lines, Nick Goberville, Parth Kadav, Zachary Asher, 2022 SAE World Congress Experience
  Technical Paper
• High-Fidelity Heavy-Duty Vehicle Modeling Using Sparse Telematics Data, Kyle Carow, Nathaniel Cantwell, Andrej Ivanco, Jacob Holden, Chad Baker, Eric Miller, Zachary Asher, 2022 SAE World Congress
  Technical Paper
• Higher Accuracy and Lower Computational Perception Environment Based Upon a Real-time Dynamic Region of Interest, Nicolas Brown, Johan Fanas Rojas, Hamzeh Alzu’bi, Qusay Alrousan, Richard Meyer, Zachary Asher, 2022 SAE World Congress Experience
  Technical Paper
• Performance Evaluation of an Autonomous Vehicle Using Resilience Engineering, Johan Fanas Rojas, Nicolas Brown, Jeff Rupp,Thomas Bradley, Zachary Asher, 2022 SAE World Congress Experience 
  Technical Paper
• Mobility Energy Productivity Evaluation of Prediction-Based Vehicle Powertrain Control Combined with Optimal Traffic Management, Farhang Motallebiaraghi, Kaisen Yao, Aaron Rabinowitz, Christopher Hoehne, Venu Garikapati, Jacob Holden, Eric Wood, Suren Chen, Zachary Asher, Thomas Bradley, 2022 SAE World Congress Experience
  Technical Paper

• Autonomous Eco-Driving with Traffic Light and Lead Vehicle Constraints: An Application of Best Constrained Interpolation, Yara Hazem Mahmoud, Nicholas E. Brown, Farhang Motallebi Araghi, Melinda Koelling, Richard Meyer Zachary Asher, Assen Dontchev, Ilya Kolmanovskey, 6th IFAC Conference on Engine Powertrain Control, Simulation and Modeling, E-COSM
  Technical Paper
• Development and Evaluation of Velocity Predictive Optimal Energy Management Strategies in Intelligent and Connected Hybrid Electric Vehicles, Aaron Rabinowitz, Farhang Motallebi Araghi, Tushar Gaikwad, Zachary Asher, Thomas H. Bradley, Energies 2021
  Technical Paper
• Techno-Economic Analysis of Fixed-Route Autonomous and Electric Shuttles, Nick Goberville, Md Marsad Zoardar, Johan Rojas, Nicolas Brown, Farhang Motallebiaraghi, Anthony Navarro, Zachary Asher, 2021 SAE World Congress Experience
  Technical Paper
• No Cost Autonomous Vehicle Advancements in CARLA through ROS, Gabriel Prescinotti Vivan, Nick Goberville, Zachary Asher, Nicholas Brown, Johan Rojas, 2021 SAE World Congress Experience
  Technical Paper
• High-Fidelity Modeling of Light-Duty Vehicle Emission and Fuel Economy Using Deep Neural Networks, Farhang Motallebiaraghi, Aaron Rabinowitz, Jacob Holden, Alvis Fong, Shantanu Jathar, Thomas Bradley, Zachary Asher, 2021 SAE World Congress Experience
  Presentation | Technical Paper
• Systems and methods for determining engine start time during predicted acceleration events, Joshua Payne, Heraldo Stefanon, Benjamin Geller, Takanori Aoki, Thomas Bradley, Zachary Asher, David Trinko
  US Patent
• Biomass Feedstock Transport Using Fuel Cell and Battery Electric Trucks Improves Lifecycle Metrics of Biofuel Sustainability and Economy, Nawa Raj Baral, Zachary D.Asher, David Trinko, Evan Sproul, Carlos Quiroz-Arita, Jason C. Quinn, Thomas H. Bradley, Journal of Cleaner Production
  Technical Paper

• Vehicle Performance Analysis of an Autonomous Electric Shuttle Modified for Wheelchair Accessibility, M.S. Thesis, Johan Fanas Rojas,  Western Michigan University
  Presentation |  Technical Paper
• Optimized System for On-Route Charging of Battery Electric Buses and High-Fidelity Modeling and Simulation of In-Motion Wireless Power Transfer, MS Thesis, Yogesh Jagdale, Western Michigan University
  Presentation | Technical Paper

• Real-Time Implementation of Optimal Energy Management in Hybrid Electric Vehicles: Globally Optimal Control of Acceleration Events, Asher, David Trinko, Joshua Payne, Benjamin Geller, Thomas Bradley, Journal of Dynamic Systems, Measurement, and Control
  Technical Paper
• Analysis of LiDAR and Camera Data in Real-World Weather Conditions for Autonomous Vehicle Operations, Nick Goberville, Mohammad El-Yabroudi, Mark Omwanas, Johan Rojas, Rick Meyer, Zachary Asher, and Ikhlas Abdel-Qader, 2020 SAE World Congress Experience
  Technical Paper
• Observer for Faulty Perception Correction in Autonomous Vehicles, Mark Omwansa, Rick Meyer, Zachary Asher, Nick Goberville, 2020 SAE World Congress Experience
  Technical Paper
• Vehicle Velocity Prediction Using Artificial Neural Network and Effect of Real World Signals on Prediction Window, Tushar Gaikwad, Aaron Rabinowitz, Farhang Motallebiaraghi, Thomas Bradley, Zachary Asher, Alvis Fong, Rick Meyer,  SAE World Congress Experience
  Technical Paper  |  Presentation

• Synchronous and Open, Real World, Vehicle, ADAS, and Infrastructure Data Streams for Automotive Machine Learning Algorithms Research, I. Rabinowitz, Tushar Gaikwad, Samantha White, Thomas Bradley, Zachary Asher, 2020 SAE World Congress Experience
  Technical Paper
• Using Reinforcement Learning and Simulation to Develop Autonomous Vehicle Control Strategies, Anthony Navarro, Sahika Genc, Premkumar Rangarajan, Rana Khalil, Nick Goberville, Johan Fanas Rojas, Zachary Asher, 2020 SAE World Congress Experience
  Technical Paper

• Vehicle Velocity Prediction Using Artificial Neural Networks and Effect of Real-World Signals on Prediction Window, MS Thesis, Tushar D. Gaikwad, Western Michigan University
  Presentation |  Technical Paper
• Comparison of Optimal Energy Management Strategies Using Dynamic Programming, Model Predictive Control, and Constant Velocity Prediction, MS Thesis,  Amol A. Patil, Western Michigan University
  Presentation | Technical Paper
• Identification and Review of the Research Gaps Preventing a Realization of Optimal Energy Management Strategies in Vehicles, Zachary D. Asher, Amol A. Patil, Andrew A. Frank, Thomas H. Bradley, SAE International Journal of Alternative Powertrains
  Technical Paper
• Improving the Range of Electric Vehicles, Parth Kadav, Zachary D. Asher, 2019 Electric Vehicles International Conference
  Technical Paper
• Vehicle Velocity Prediction and Energy Management Strategy Part 2: Integration of Machine Learning Vehicle Velocity Prediction with Optimal Energy Management to Improve Fuel Economy, Tushar D Gaikwad, Zachary D. Asher, Kuan Liu, Mike Huang, Ilya Kolmanovsky, 2019 SAE World Congress Experience
  Technical Paper
• Vehicle Velocity Prediction and Energy Management Strategy Part 1: Deterministic and Stochastic Vehicle Velocity Prediction Using Machine Learning, Kuan Liu, Zachary D. Asher, Xun Gong, Mike Huang, Ilya Kolmanovsky, 2019 SAE World Congress Experience
  Technical Paper

2018

• Enabling Predictive Energy Management in Vehicles, Ph.D. Dissertation, Zachary D. Asher, Colorado State University
  Presentation  | Technical Paper
• ​Economic Viability and Environmental Impact of In-Motion Wireless Power Transfer, Braden J. Limb, Zachary D. Asher, Thomas H. Bradley, Evan Sproul, David A. Trinko, Benjamin Crabb, Regan Zane, Jason C. Quinn, 2018 IEEE Transactions on Transportation Electrification
  Technical Paper
• 2018 Astrodynamics Specialist Conference, Zachary D. Asher, Steven Tragesser, Christian Kneubel, Jennifer Hudson, Thomas H. Bradley, Ilya Kolmanovsky, 2018 Astrodynamics Specialist Conference
  Technical paper | Presentation slides
• 2018 ASEE Summer Conference,  Zachary D. Asher, Nicole Ramo, and Thomas H. Bradley,2018 American Society for Engineering Education (ASEE) Summer Conference
  Technical paper | Presentation slides
• Electrification of Class 8 Trucking: Economic Analysis of In-Motion Wireless Power Transfer Compared to Long-Range Batteries, Evan Sproul, Zachary D. Asher, David A. Trinko, Thomas H. Bradley, and Jason C. Quinn, 2018 IEEE Transportation Electrification Conference
  Technical paper
• An Adaptive Green Zone Strategy for Hybrid Electric Vehicle Control, David A. Trinko, Eric A. Wendt, Zachary D. Asher, Marco Peyfuss, John Volckens, Jason C. Quinn, and Thomas H. Bradley, 2018  IEEE Transportation Electrification Conference
  Technical paper
• Enabling Prediction for Optimal Fuel Economy Vehicle Control, Zachary D. Asher, Jordan Tunnel, David Baker, Robert Fitzgerald, Farnoush Banaei-Kashani, Sudeep Pasricha, and Thomas Bradley, 2018 SAE World Congress and Exhibition
  Technical Paper | Presentation slides
• Economic and Efficient Hybrid Electric Vehicle Fuel Economy and Emissions Modeling Using an Artificial Neural Network, Zachary D. Asher, Abril Galang, Thomas H. Bradley, and Shantanu Jathar, 2018 SAE World Congress and Exhibition
  Technical Paper | Presentation slide
• Towards Improving Vehicle Fuel Economy with ADAS, Jordan Tunnel, Zachary D. Asher, Sudeep Pasricha, and Thomas H. Bradley, 2018 SAE World Congress and Exhibition
  Technical Paper
• Application of Pre-Computed Acceleration Event Control to Improve Fuel Economy in Hybrid Electric Vehicles, David Trinko, Zachary D. Asher, and Thomas H. Bradley, 2018 SAE World Congress and Exhibition
  Technical Paper 
• Vehicle Electrification in Chile: A Life Cycle Assessment and Techno-Economic Analysis Using Data Generated by Autonomie, Vehicle Modeling Software, Carlos Quiroz-Arita, Zachary D. Asher, Nawa Baral, and Thomas H. Bradley, 2018 SAE World Congress and Exhibition
  Technical Paper
• V2V Communication Based Real-World Velocity Predictions for Improved HEV Fuel Economy, David A. Baker, Zachary D. Asher, and Thomas H. Bradley, 2018 SAE World Congress and Exhibition
  Technical Paper
• Development of an Autonomous Vehicle Control Strategy Using a Single Camera and Deep Neural Networks, Anthony Navarro, Jendrik Joerdening, Rana Khalil, Aaron Brown, and Zachary D. Asher, 2018 SAE World Congress and Exhibition
  Technical Paper
• Increasing the Fuel Economy of Connected and Autonomous Lithium Ion Electrified Vehicles, Zachary D. Asher, David A. Trinko, and Thomas H. Bradley, Behaviour of Lithium-ion Batteries in Electric Vehicles
  Technical Paper

2017

• Prediction Error Applied to Vehicle Optimal Fuel Economy, Zachary D. Asher, David A. Baker, and Thomas H. Bradley, IEEE Transactions on Control Systems Technology
  Technical Paper 
• Investigation of Vehicle Speed Prediction from Neural Network Fit of Real World Driving Data for Improved Engine On/Off, Control of the EcoCAR3 Hybrid Camaro, David A. Baker, Zachary D. Asher, and Thomas H. Bradley, 2017 SAE World Congress and Exhibition
  Technical Paper
• The Importance of HEV Fuel Economy and Two Research Gaps Preventing Real World Implementation of Optimal Energy Management, Zachary D. Asher, Van Wifvat, Anthony Navarro, Scott Samuelsen, and Thomas Bradley, 2017 SAE World Congress and Exhibition
  Technical Paper 
• The Effect of Hill Planning and Route Type Identification Prediction Signal Quality on Hybrid Vehicle Fuel Economy, Zachary D. Asher, Thomas Cummings, and Thomas H. Bradley, 2016 SAE World Congress and Exhibition
  Technical Paper 
• The Effect of Trip Preview Prediction Signal Quality on Hybrid Vehicle Fuel Economy, Thomas Cummings, Thomas H. Bradley, and Zachary D. Asher,  2015 Engine and Powertrain Control, Simulation and Modeling (E'COSM)
  Technical Paper  
• Capture and Removal Orbital Analysis of Multiple Debris Objects Using a Tethered Spacecraft, M.S. Thesis,  Zachary D. Asherm University of Colorado at Colorado Springs
  Technical Paper

2016

• The Effect of Hill Planning and Route Type Identification Prediction Signal Quality on Hybrid Vehicle Fuel Economy, Zachary D. Asher, Thomas Cummings, and Thomas H. Bradley,  2016 SAE World Congress and Exhibition
  Technical Paper

2015

• The Effect of Trip Preview Prediction Signal Quality on Hybrid Vehicle Fuel Economy, Thomas Cummings, Thomas H. Bradley, and Zachary D. Asher, 2015 Engine and Powertrain Control, Simulation and Modeling (E'COSM)
  Technical Paper

2012

• Capture and Removal Orbital Analysis of Multiple Debris Objects Using a Tethered Spacecraft, M.S. Thesis, Zachary D. Asher, University of Colorado at Colorado Springs
  Technical Paper