13 papers
A Distributed Framework for Data-Driven Safe Coordination in Leader-Follower Networks
Mirhan Urkmez, Maryam Sharifi, Shahab Heshmati-Alamdari
This paper addresses connectivity preservation in leader-follower multi-agent systems with unknown control-affine dynamics and local state information. We introduce the distributed…
Distributionally Robust Data-Driven Predictive Control for Stochastic LTI Systems
Mirhan Urkmez, Shahab Heshmati-Alamdari
We propose a distributionally robust data-driven predictive control framework for stochastic linear time-invariant systems with unknown dynamics and disturbance distributions. We u…
Safe Force/Position Tracking Control via Control Barrier Functions for Floating Base Mobile Manipulator Systems
Maryam Sharifi, Shahab Heshmati-Alamdari
This paper introduces a safe force/position tracking control strategy designed for Free-Floating Mobile Manipulator Systems (MMSs) engaging in compliant contact with planar surface…
Towards Data-driven LQR with Koopmanizing Flows
Petar Bevanda, Max Beier, Shahab Heshmati-Alamdari +2
We propose a novel framework for learning linear time-invariant (LTI) models for a class of continuous-time non-autonomous nonlinear dynamics based on a representation of Koopman o…
Results from the Robocademy ITN: Autonomy, Disturbance Rejection and Perception for Advanced Marine Robotics
Matias Valdenegro-Toro, Mariela De Lucas Alvarez, Mariia Dmitrieva +7
Marine and Underwater resources are important part of the economy of many countries. This requires significant financial resources into their construction and maintentance. Robotic…
Robust Trajectory Tracking Control for Underactuated Autonomous Underwater Vehicles
Shahab Heshmati-alamdari, Alexandros Nikou, Dimos V. Dimarogonas
Motion control of underwater robotic vehicles is a demanding task with great challenges imposed by external disturbances, model uncertainties and constraints of the operating works…