7 citations · 16 across the 12 of their papers we have counts for
12 papers
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…
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…
Full-Dynamics Real-Time Nonlinear Model Predictive Control of Heavy-Duty Hydraulic Manipulator for Trajectory Tracking Tasks
Alvaro Paz, Mahdi Hejrati, Pauli Mustalahti +1
Heavy-duty hydraulic manipulators (HHMs) operate under strict physical and safety-critical constraints due to their large size, high power, and complex nonlinear dynamics. Ensuring…
Real-Time Nonlinear Model Predictive Control of Heavy-Duty Skid-Steered Mobile Platform for Trajectory Tracking Tasks
Alvaro Paz, Pauli Mustalahti, Mohammad Dastranj +1
This paper presents a framework for real-time optimal controlling of a heavy-duty skid-steered mobile platform for trajectory tracking. The importance of accurate real-time perform…
All-Electric Heavy-Duty Robotic Manipulator: Actuator Configuration Optimization and Sensorless Control
Mohammad Bahari, Amir Hossein Barjini, Pauli Mustalahti +1
This paper presents a unified framework that integrates modeling, optimization, and sensorless control of an all-electric heavy-duty robotic manipulator (HDRM) driven by electromec…
LiDAR-Inertial SLAM-Based Navigation and Safety-Oriented AI-Driven Control System for Skid-Steer Robots
Mehdi Heydari Shahna, Eemil Haaparanta, Pauli Mustalahti +1
Integrating artificial intelligence (AI) and stochastic technologies into the mobile robot navigation and control (MRNC) framework while adhering to rigorous safety standards prese…
Robust Immersive Bilateral Teleoperation of Beyond-Human-Scale Systems with Enhanced Transparency and Sense of Embodiment
Mahdi Hejrati, Pauli Mustalahti, Jouni Mattila
This paper presents an immersive bilateral teleoperation framework for beyond-human-scale manipulators, combining motion/force transparency with enhanced operator embodiment throug…
Anti-Slip AI-Driven Model-Free Control with Global Exponential Stability in Skid-Steering Robots
Mehdi Heydari Shahna, Pauli Mustalahti, Jouni Mattila
Undesired lateral and longitudinal wheel slippage can disrupt a mobile robot's heading angle, traction, and, eventually, desired motion. This issue makes the robotization and accur…
Increasing the Task Flexibility of Heavy-Duty Manipulators Using Visual 6D Pose Estimation of Objects
Petri Mäkinen, Pauli Mustalahti, Tuomo Kivelä +1
Recent advances in visual 6D pose estimation of objects using deep neural networks have enabled novel ways of vision-based control for heavy-duty robotic applications. In this stud…
Fault-Tolerant Control for System Availability and Continuous Operation in Heavy-Duty Wheeled Mobile Robots
Mehdi Heydari Shahna, Pauli Mustalahti, Jouni Mattila
When the control system in a heavy-duty wheeled mobile robot (HD-WMR) malfunctions, deviations from ideal motion occur, significantly heightening the risks of off-road instability…
Robust Model-Free Control Framework with Safety Constraints for a Fully Electric Linear Actuator System
Mehdi Heydari Shahna, Pauli Mustalahti, Jouni Mattila
This paper introduces a novel model-free control strategy for a complex multi-stage gearbox electromechanical linear actuator (EMLA) system, driven by a permanent magnet synchronou…
Robust Sensor-Limited Control with Safe Input-Output Constraints for Hydraulic In-Wheel Motor Drive Mobility Systems
Mehdi Heydari Shahna, Pauli Mustalahti, Jouni Mattila
In-wheel drive (IWD) systems enhance the responsiveness, traction, and maintenance efficiency of vehicles by enabling each wheel to operate independently. This paper proposes a nov…