3 citations · 6 across the 12 of their papers we have counts for
8 papers · 1 filter
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…
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,…
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…
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…