12 papers
Pose-Parameterized Motion Planning and CBF-QP Self-Collision Filtering for a Long-Reach Drilling Boom
Mehdi Heydari Shahna, Tuomo Kivelä, Jouni Mattila
Long-reach drilling booms must reach successive poses without self-collision. Moving from operator-supervised control toward autonomy requires collision-aware motion planning and e…
Progress-Certified Reversible Simplex Supervision of Goal-Reaching Reinforcement Learning
Mehdi Heydari Shahna, Seyed Adel Alizadeh Kolagar, Jouni Mattila
Task completion is difficult to certify when state aggregation, model mismatch, and disturbances invalidate nominal RL transitions. We present a reversible Simplex framework combin…
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…
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…
Robust Deep Learning Control with Guaranteed Performance for Safe and Reliable Robotization in Heavy-Duty Machinery
Mehdi Heydari Shahna
Today's heavy-duty mobile machines (HDMMs) face two transitions: from diesel-hydraulic actuation to clean electric systems driven by climate goals, and from human supervision towar…
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…