Amaldev Haridevan — accepted AI-conference papers

2026

SEP-NMPC: Safety Enhanced Passivity-Based Nonlinear Model Predictive Control for a UAV Slung Payload System

Seyedreza Rezaei, Junjie Kang, Amaldev Haridevan, Jinjun Shan

ICRA 2026poster

Model Predictive Control (MPC) is widely adopted for agile multirotor vehicles, yet achieving both stability and obstacle-free flight is particularly challenging when a payload is suspended beneath the airframe. This paper introduces a Safety Enhanced Passivity-Based Nonlinear MPC (SEP-NMPC) that pr…

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2022

Application of Ghost-DeblurGAN to Fiducial Marker Detection

Yibo Liu, Amaldev Haridevan, Hunter Schofield, Jinjun Shan

IROS 2022poster

Feature extraction or localization based on the fiducial marker could fail due to motion blur in real-world robotic applications. To solve this problem, a lightweight generative adversarial network, named Ghost-DeblurGAN, for real-time motion deblurring is developed in this paper. Furthermore, on ac…

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