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- Aalto UniversityFI28 papers
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- Franche-Comté Électronique Mécanique Thermique et Optique - Sciences et TechnologiesFR11 papers
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14 papers · 1 filter
NMPC-Augmented Visual Navigation and Safe Learning Control for Large-Scale Mobile Robots
Mehdi Heydari Shahna, Pauli Mustalahti, Jouni Mattila
A large-scale mobile robot (LSMR) is a high-order multibody system that often operates on loose, unconsolidated terrain, which reduces traction. This paper presents a comprehensive…
Vision-based Goal-Reaching Control for Mobile Robots Using a Hierarchical Learning Framework
Mehdi Heydari Shahna, Pauli Mustalahti, Jouni Mattila
Reinforcement learning (RL) has strong potential in robotics, but exploration-based training complicates safe deployment on large-scale robots. For such applications, this paper pr…
Full-Dynamics Real-Time Nonlinear Model Predictive Control of Heavy-Duty Hydraulic Manipulator for Trajectory Tracking Tasks
Alvaro Paz, Mahdi Hejrati, Pauli Mustalahti +1
Heavy-duty hydraulic manipulators (HHMs) operate under strict physical and safety-critical constraints due to their large size, high power, and complex nonlinear dynamics. Ensuring…
Synthesis of Deep Neural Networks with Safe Robust Adaptive Control for Reliable Operation of Wheeled Mobile Robots
Mehdi Heydari Shahna, Jouni Mattila
Deep neural networks (DNNs) can enable precise control while maintaining low computational costs by circumventing the need for dynamic modeling. However, the deployment of such bla…
Digital twin and extended reality for teleoperation of the electric vehicle battery disassembly
Tero Kaarlela, Sami Salo, Jose Outeiro
Disassembling and sorting Electric Vehicle Batteries (EVBs) supports a sustainable transition to electric vehicles by enabling a closed-loop supply chain. Currently, the manual dis…
Anti-Slip AI-Driven Model-Free Control with Global Exponential Stability in Skid-Steering Robots
Mehdi Heydari Shahna, Pauli Mustalahti, Jouni Mattila
Undesired lateral and longitudinal wheel slippage can disrupt a mobile robot's heading angle, traction, and, eventually, desired motion. This issue makes the robotization and accur…