1 citations · 1 across the 9 of their papers we have counts for
11 papers
FLASH-CBF-RRT: Fast Lipschitz-Adaptive Safe Horizon CBF Steering for Certified Motion Planning
Mani Amani, Hesam Mojtahedi, Reza Akhavian +2
Fast motion planning requires both sample-efficient exploration and computationally efficient local steering. Conventional straight-line steering is inexpensive but wastes samples…
Latent Safety Filters: When a Lossy Encoder Admits a Transferable Certificate
Johannes Mootz, Zahra Nili Ahmadabadi, Reza Akhavian
Latent safety filters certify safety on a learned low-dimensional representation of the state, enabling constraints that resist analytic description. Because the encoder is lossy,…
Control Barrier Functions with Audio Risk Awareness for Robot Safe Navigation on Construction Sites
Johannes Mootz, Reza Akhavian
Construction automation increasingly requires autonomous mobile robots, yet robust autonomy remains challenging on construction sites. These environments are dynamic and often visu…
BIM-Discrepancy-Driven Active Sensing for Risk-Aware UAV-UGV Navigation
Hesam Mojtahedi, Reza Akhavian
This paper presents a BIM-discrepancy-driven active sensing framework for cooperative navigation between unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) in dyna…
Bootstrapped LLM Semantics for Context-Aware Path Planning
Mani Amani, Behrad Beheshti, Reza Akhavian
Prompting robots with natural language (NL) has largely been studied as what task to execute (goal selection, skill sequencing) rather than how to execute that task safely and effi…
Digital Twin-Guided Robot Path Planning: A Beta-Bernoulli Fusion with Large Language Model as a Sensor
Mani Amani, Reza Akhavian
Integrating natural language (NL) prompts into robotic mission planning has attracted significant interest in recent years. In the construction domain, Building Information Models…
Building Information Models to Robot-Ready Site Digital Twins (BIM2RDT): An Agentic AI Safety-First Framework
Reza Akhavian, Mani Amani, Johannes Mootz +2
The adoption of cyber-physical systems and jobsite intelligence that connects design models, real-time site sensing, and autonomous field operations can dramatically enhance digita…
Advancing Accessible Hand-Arm Vibration Safety Monitoring: ISO-Compliance with Wearable Sensors and Transfer Functions
Johannes Mootz, Reza Akhavian
Field workers are frequently exposed to hazardous vibrations, increasing the risk of Hand-Arm Vibration Syndrome (HAVS) and other long-term health problems. ISO 5349-1 provides gui…
Bayesian BIM-Guided Construction Robot Navigation with NLP Safety Prompts in Dynamic Environments
Mani Amani, Reza Akhavian
Construction robotics increasingly relies on natural language processing for task execution, creating a need for robust methods to interpret commands in complex, dynamic environmen…
Safe and Trustworthy Robot Pathfinding with BIM, MHA*, and NLP
Mani Amani, Reza Akhavian
Construction robots have gained significant traction in recent years in research and development. However, the application of industrial robots has unique challenges. Dynamic envir…
Adaptive Robot Perception in Construction Environments using 4D BIM
Mani Amani, Reza Akhavian
Human Activity Recognition (HAR) is a pivotal component of robot perception for physical Human Robot Interaction (pHRI) tasks. In construction robotics, it is vital that robots hav…