3 papers
eess.SY2025
Minimally Conservative Controlled-Invariant Set Synthesis Using Control Barrier Certificates
Naeim Ebrahimi Toulkani, Reza Ghabcheloo
Finding a controlled-invariant set for a system with state and control constraints is crucial for safety-critical applications. However, existing methods often produce overly conse…
eess.SY2025
Safety Filter Design for Articulated Frame Steering Vehicles In the Presence of Actuator Dynamics Using High-Order Control Barrier Functions
Naeim Ebrahimi Toulkani, Reza Ghabcheloo
Articulated Frame Steering (AFS) vehicles are widely used in heavy-duty industries, where they often operate near operators and laborers. Therefore, designing safe controllers for…
cs.RO2025
Autonomous Wheel Loader Navigation Using Goal-Conditioned Actor-Critic MPC
Aleksi Mäki-Penttilä, Naeim Ebrahimi Toulkani, Reza Ghabcheloo
This paper proposes a novel control method for an autonomous wheel loader, enabling time-efficient navigation to an arbitrary goal pose. Unlike prior works which combine high-level…