2 papers
eess.SY2026
A Distributed Framework for Data-Driven Safe Coordination in Leader-Follower Networks
Mirhan Urkmez, Maryam Sharifi, Shahab Heshmati-Alamdari
This paper addresses connectivity preservation in leader-follower multi-agent systems with unknown control-affine dynamics and local state information. We introduce the distributed…
cs.RO2024
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…