Pauli Mustalahti — accepted AI-conference papers

2026

NMPC-Augmented Visual Navigation and Safe Learning Control for Large-Scale Mobile Robots

Mehdi Heydari Shahna, Pauli Mustalahti, Jouni Mattila

RA-L 2026

A large-scale mobile robot (LSMR) is a high-order multibody system that often operates on unconsolidated terrain, which reduces traction. This paper presents an integrated navigation and control framework for an LSMR that ensures stability and safety-defined performance on slip-prone terrain by comb

Cited by 1 Source ↗Scholar ↗

2025

Anti-Slip AI-Driven Model-Free Control with Global Exponential Stability in Skid-Steering Robots

Mehdi Heydari Shahna, Pauli Mustalahti, Jouni Mattila

IROS 2025

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 accurate modeling of heavy-duty machinery very challenging because the application primarily involves off-road terrains, whic

Cited by 5 Source ↗Scholar ↗