3 papers
eess.SY2025
Safety Critical Model Predictive Control Using Discrete-Time Control Density Functions
Sriram S. K. S. Narayanan, Sajad Ahmadi, Javad Mohammadpour Velni +1
This paper presents MPC-CDF, a new approach integrating control density functions (CDFs) within a model predictive control (MPC) framework to ensure safety-critical control in nonl…
cs.RO2025
Safe Robust Predictive Control-based Motion Planning of Automated Surface Vessels in Inland Waterways
Sajad Ahmadi, Hossein Nejatbakhsh Esfahani, Javad Mohammadpour Velni
Deploying self-navigating surface vessels in inland waterways offers a sustainable alternative to reduce road traffic congestion and emissions. However, navigating confined waterwa…
cs.RO2025
An Adaptive Coverage Control Approach for Multiple Autonomous Off-road Vehicles in Dynamic Agricultural Fields
Sajad Ahmadi, Mohammadreza Davoodi, Javad Mohammadpour Velni
This paper presents an adaptive coverage control method for a fleet of off-road and Unmanned Ground Vehicles (UGVs) operating in dynamic (time-varying) agricultural environments. T…