Sara Aldhaheri — accepted AI-conference papers

2026

Turning Disturbances into Actuation: Hierarchical Environment-Assisted MPC for USV Fault Recovery

Yang Hu, Sara Aldhaheri, Yanchao Wang, Peng Wu, Yuanchang Liu

ICRA 2026poster

Thruster failures in unmanned surface vehicles (USVs) can critically compromise mission completion, particularly when severe degradation eliminates controllability in essential degrees of freedom. While traditional fault-tolerant control treats environmental disturbances as impediments to be rejecte…

Cited by 0 Scholar ↗

2023

Model-Based Underwater 6D Pose Estimation From RGB

Davide Sapienza, Elena Govi, Sara Aldhaheri, Marko Bertogna, Eloy Roura, Èric Pairet +2

RA-L 2023

Object pose estimation underwater allows an autonomous system to perform tracking and intervention tasks. Nonetheless, underwater target pose estimation is remarkably challenging due to, among many factors, limited visibility, light scattering, cluttered environments, and constantly varying water co

Cited by 11 Source ↗Scholar ↗