8 citations · 33 across the 17 of their papers we have counts for
18 papers
IL-ACT: Imitation Learning with Adaptive Cartesian Tracking Control for a 30-ton Excavator
Mehdi Heydari Shahna, Seihun Kim, Soyi Jung +3
Autonomous excavator control is challenged by coupled kinematics, actuation lag, and uncertainty. We propose imitation learning and adaptive Cartesian tracking (IL-ACT), a novel mo…
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…
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…
Reversible Simplex Supervision with Post-Action Debt Accounting for Goal-Reaching RL
Mehdi Heydari Shahna, Joongheon Kim, Jouni Mattila
Deploying reinforcement learning (RL) on multi-tonne robots calls for supervisory mechanisms that address both operational safety and progress toward task completion. However, repe…
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…
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…