11 papers
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…
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…
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…
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…