3 citations · 6 across the 12 of their papers we have counts for
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…
A Distributed Predictive Control Approach for Cooperative Manipulation of Multiple Underwater Vehicle Manipulator Systems
Shahab Heshmati-Alamdari, George C. Karras, Kostas J. Kyriakopoulos
This paper addresses the problem of cooperative object transportation for multiple Underwater Vehicle Manipulator Systems (UVMSs) in a constrained workspace involving static obstac…
Decentralized Impedance Control for Cooperative Manipulation of Multiple Underwater Vehicle Manipulator Systems under Lean Communication
Shahab Heshmati-alamdari, Charalampos P. Bechlioulis, George C. Karras +1
This paper addresses the problem of cooperative object transportation for multiple Underwater Vehicle Manipulator Systems (UVMSs) in a constrained workspace with static obstacles,…
Design and Experimental Validation of Tube-based MPC for Timed-constrained Robot Planning
Alexandros Nikou, Shahab Heshmati-alamdari, Dimos V. Dimarogonas
This paper deals with the design and experimental validation of a state-of-the art tube-based Model Predictive Control (MPC) for achieving time-constrained tasks. Given the uncerta…
A Robust Model Predictive Control Approach for Autonomous Underwater Vehicles Operating in a Constrained workspace
Shahab Heshmati-alamdari, George C. Karras, Panos Marantos +1
This paper presents a novel Nonlinear Model Predictive Control (NMPC) scheme for underwater robotic vehicles operating in a constrained workspace including static obstacles. The pu…
A Nonlinear Model Predictive Control Scheme for Cooperative Manipulation with Singularity and Collision Avoidance
Alexandros Nikou, Christos Verginis, Shahab Heshmati-alamdari +1
This paper addresses the problem of cooperative transportation of an object rigidly grasped by robotic agents. In particular, we propose a Nonlinear Model Predictive Control (N…
Decentralized Abstractions and Timed Constrained Planning of a General Class of Coupled Multi-Agent Systems
Alexandros Nikou, Shahab Heshmati-alamdari, Christos Verginis +1
This paper presents a fully automated procedure for controller synthesis for a general class of multi-agent systems under coupling constraints. Each agent is modeled with dynamics…
A Robust Force Control Approach for Underwater Vehicle Manipulator Systems
Shahab Heshmati-alamdari, Alexandros Nikou, Kostas J. Kyriakopoulos +1
In various interaction tasks using Underwater Vehicle Manipulator Systems (UVMSs) (e.g. sampling of the sea organisms, underwater welding), important factors such as: i) uncertaint…