Publications

[J14] An Event-Based Predictive Control Framework for Mobile Robots Under Operational Constraints
Alina Eqtami, Shahab Heshmati-alamdari, Dimos V. Dimarogonas, Kostas J. Kyriakopoulos
Elsevier European Journal of Control, 2024, Submitted.

[J13] The SeaClear System: A Multi-robot Solution for Autonomous Cleanup of Marine Debris on the Seabed
Athina Ilioudi, Stefan Sosnowski, Elizabeth Banken, Petar Bevanda, Jan Bruedigam, Lucian Busoniu, Yves Chardard, Cosmin Delea, Bart De Schutter, Antun Duras, Claudia Hertel-ten Eikelder, Shahab Heshmati-alamdari, Ivana Palunko, Iva Pozniak, Domagoj Tolic
Elsevier Engineering Applications of Artificial Intelligence, Submitted.

[J12] Control Barrier Function Based Visual Servoing for Mobile Manipulator Systems under Functional Limitations
Shahab Heshmati-alamdari, Maryam Sharifi, George C. Karras, George K. Fourlas,
Elsevier Robotics and Autonomous Systems, 2024.

[J11] Image Based Visual Servoing for Floating Base Mobile Manipulator Systems with Prescribed Performance under Operational Constraints
George Karras, George K. Fourlas, Alexandros Nikou, Charalampos Bechlioulis, Shahab Heshmati Alamdari
Machines, MDPI, 2022.

[J10] Predictive Control Approach for Cooperative Transportation by Multiple Underwater Vehicle Manipulator Systems
Shahab Heshmati-alamdari, George C. Karras, Kostas J. Kyriakopoulos,
IEEE Transactions on Control Systems Technology, 2021, Video.

[J9] A Robust Nonlinear MPC Framework for Control of Underwater Vehicle Manipulator Systems under High-Level Tasks
Alexandros Nikou, Christos K. Verginis, Shahab Heshmati-alamdari, Dimos V. Dimarogonas
IET Control Theory and Applications, 2021.

[J8] Scalable Time-constrained Planning of Multi-robot Systems
Alexandros Nikou, Shahab Heshmati-alamdari, Dimos V. Dimarogonas
Autonomous Robots, Springer, 2020, Video.

[J7] Robust Trajectory Tracking Control for Underactuated Autonomous Underwater Vehicles in Uncertain Environments
Shahab Heshmati-alamdari, Alexandros Nikou, Dimos V. Dimarogonas
IEEE Transactions on Automation Science and Engineering, 2020, Video.

[J6] Cooperative Impedance Control for Multiple Underwater Vehicle Manipulator Systems under Lean Communication
Shahab Heshmati-alamdari, Charalampos P. Bechlioulis, George C. Karras, Kostas J. Kyriakopoulos,
IEEE Journal of Oceanic Engineering, 2020.

[J5] A Self-triggered Position Based Visual Servoing Model Predictive Control Scheme for Underwater Robotic Vehicles
Shahab Heshmati-alamdari, Alina Eqtami, George C. Karras, Dimos V. Dimarogonas, Kostas J. Kyriakopoulos
Machines, MDPI, 2020, Video.

[J4] A Robust Predictive Control Approach for Underwater Robotic Vehicles
Shahab Heshmati-alamdari, George C. Karras, Panos Marantos, and Kostas J. Kyriakopoulos,
IEEE Transactions on Control Systems Technology, 2019, Video.

[J3] Robust Image Based Visual Servoing with Prescribed Performance under Field of View Constraints
Charalampos P Bechlioulis, Shahab Heshmati-alamdari, George C. Karras, Kostas J. Kyriakopoulos
IEEE Transactions on Robotics, 2019, Video.

[J2] A Robust Interaction Control Approach for Underwater Vehicle Manipulator Systems
Shahab Heshmati-alamdari, Charalampos P. Bechlioulis, George C. Karras, Alexandros Nikou, Dimos V. Dimarogonas, Kostas J. Kyriakopoulos
Annual Reviews in Control, Vol 46, p. 315-325, 2018, Video.

[J1] Trajectory TrackingWith Prescribed Performance for Underactuated Underwater Vehicles Under Model Uncertainties and External Disturbances
Charalampos P Bechlioulis, George C Karras, Shahab Heshmati-alamdari, Kostas J Kyriakopoulos
IEEE Transactions on Control Systems Technology 25 (2), 429-440, 2016.

[C26] Safe Data-Driven Optimization Approach for Robot Navigation in Dynamic Environments
Dadi Hrannar Davidsson, Lasse Due Hornshøj, Søren Haugaard, Adrian Iribar, Oghuz Madinali, Gayath Sanjula De Silva, Rahul Misra, Henrik Schiøler, Shahab Heshmati Alamdari
IEEE European Control Conference (ECC) 2025, (Under review).

[C25] Barrier Functions for Image-Based Visual Servoing in Non-Holonomic Mobile Manipulator Systems
Daniel Doroshenko, Maryam Sharifi, Henrik Schiøler, Shahab Heshmati-Alamdari
IEEE International Conference on Robotics and Automation (ICRA) 2025, (Under review).

[C24] Control Barrier Functions Based Visual Servoing Scheme to Safely Operate a UAV Around Fiducial Markers in GNSS Denied Settings
Angus Lynch, Chen Lyu, Joao Buzzatto, Shahab Heshmati-alamdari, Minas Liarokapis
IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) 2024, (Accepted).

[C23] Prescribed-Time Predictive Control for Mobile Robot Navigation
Maryam Sharifi, Alexandros Nikou, Shahab Heshmati Alamdari
32th Mediterranean Conference on Control and Automation 2024, Chania, Crete, Greece (Submitted).

[C22] Robust, Fiducial Markers Based Predictive Control Scheme for Infrastructure Inspection with Unmanned Aerial Vehicles
Angus Lynch, Joao Buzzatto, Minas Liarokapis, Shahab Heshmati-Alamdari
INTERNATIONAL CONFERENCE ON UNMANNED AIRCRAFT SYSTEMS ICUAS 2024(Submitted).

[C21] Safe Force/Position Tracking Control via Control Barrier Functions for Floating Base Mobile Manipulator Systems
Maryam Sharifi, Shahab Heshmati Alamdari
European Control Conferences, ECC 2024, Stockholm, Sweden(Accepted).

[C20] Control Barrier Function Based Visual Servoing for Underwater Vehicle Manipulator Systems under Operational Constraints
Shahab Heshmati-Alamdari, George C. Karras, Maryam Sharifi, George K. Fourlas
31th Mediterranean Conference on Control and Automation 2023, Limassol, Cyprus.

[C19] An Aperiodic Prescribed Performance Control Scheme for Uncertain Nonlinear Systems
Alexandros Nikou, Christos K. Verginis, Shahab Heshmati Alamdari
30th Mediterranean Conference on Control and AutomationJune 28 - July 1, 2022, Athens, Greece (Accepted).

[C18] Towards Data-driven LQR with KoopmanizingFlows
Petar Bevanda, Max Beier, Shahab Heshmati-Alamdari, Stefan Sosnowski, Sandra Hirche
6th IFAC Conference on Intelligent Control and Automation Sciences, Cluj-Napoca, Romania, 2022, (Accepted).

[C17] Decentralized Formation Control for Multiple Quadrotors under Unidirectional Communication Constraints
Pedro Roque, Shahab Heshmati-alamdari, Alexandros Nikou, Dimos V. Dimarogonas
21st World Congress of the International Federation of Automatic Control (IFAC WC), Berlin, German, July 2020.

[C16] Robust Trajectory Tracking Control for Underactuated Autonomous Underwater Vehicles
Shahab Heshmati-alamdari, Alexandros Nikou, Dimos V. Dimarogonas
58th IEEE Conference on Decision and Control (CDC), Nice, France - December 11-13 2019.

[C15] Design and Experimental Validation of Tube-based MPC for Timed-constrained Robot Planning
Alexandros Nikou, Shahab Heshmati-alamdari, Dimos V. Dimarogonas
IEEE International Conference on Automation Science and Engineering (CASE), 2019 Video.

[C14] A Distributed Predictive Control Approach for Cooperative Manipulation of Multiple Underwater Vehicle Manipulator Systems
Shahab Heshmati-alamdari, George C. Karras, Kostas J. Kyriakopoulos
International Conference on Robotics and Automation (ICRA), 2019, Video.

[C13] Decentralized Impedance Control for Cooperative Manipulation of Multiple Underwater Vehicle Manipulator Systems under Lean Communication
Shahab Heshmati-alamdari, Charalampos P. Bechlioulis, George C. Karras, Kostas J. Kyriakopoulos
IEEE OES Autonomous Underwater Vehicle Symposium (AUVS), Porto, Portugal, November, 2018.

[C12] A Model Predictive Control Approach for Vision-based Object Grasping via Mobile Manipulator
Michalis Logothetis, George C. Karras, Shahab Heshmati-alamdari, Panagiotis Vlantis and Kostas J. Kyriakopoulos
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018, Video.

[C11] A Robust Model Predictive Control Approach for Autonomous Underwater Vehicles Operating in a Constrained Workspace
Shahab Heshmati-alamdari, George C. Karras, Panos Marantos, and Kostas J. Kyriakopoulos
IEEE International Conference on Robotics and Automation (ICRA), 2018 Video.

[C10] Decentralized Abstractions and Timed Constrained Planning of a General Class of Coupled Multi-Agent Systems
Alexandros Nikou, Shahab Heshmati-alamdari, Christos K. Verginis, Dimos V. Dimarogonas
56th IEEE Conference on Decision and Control (CDC), Melbourne, Australia, December 2017

[C9] A Robust Force Control Approach for Underwater Vehicle Manipulator Systems
Shahab Heshmati-alamdari, Alexandros Nikou, Kostas J. Kyriakopoulos, Dimos V. Dimarogonas
20th World Congress of the International Federation of Automatic Control (IFAC WC),
Toulouse, France, July 2017.

[C8] A Nonlinear Model Predictive Control Scheme for Cooperative Manipulation with Singularity and Collision Avoidance
Alexandros Nikou, Christos K. Verginis, Shahab Heshmati-alamdari, Dimos V. Dimarogonas
IEEE 25th Mediterranean Conference on Control and Automation (MED), 2017.

[C7] A Robust Self Triggered Image Based Visual Servoing Model Predictive Control Scheme for Small Autonomous Robots
Shahab Heshmati-alamdari, George C. Karras, Alina Eqtami and Kostas J. Kyriakopoulos
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015 Video.

[C6] Prescribed performance image based visual servoing under field of view constraints,
Shahab Heshmati-alamdari, Charalampos P Bechlioulis, Minas V Liarokapis, Kostas J Kyriakopoulos
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2014 Video.

[C5] Sonar-Based Chain Following Using an Autonomous Underwater Vehicle
Natalia Hurtos, Narcis Palomeras, Arnau Carrera, Marc Carreras, Charalampos P. Bechlioulis, George C. Karras, Shahab Heshmati-alamdari, Kostas J Kyriakopoulos
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2014.

[C4] A self-triggered visual servoing model predictive control scheme for under-actuated underwater robotic vehicles
Shahab Heshmati-alamdari, Alina Eqtami, George C Karras, Dimos V Dimarogonas, Kostas J Kyriakopoulos
IEEE International Conference on Robotics and Automation (ICRA), 2014 Video.

[C3] Robustness analysis of model predictive control for constrained image-based visual servoing
Shahab Heshmati-alamdari, George K Karavas, Alina Eqtami, Michael Drossakis, Kostas J Kyriakopoulos,
IEEE International Conference on Robotics and Automation (ICRA), 2014.

[C2] A self-triggered model predictive control framework for the cooperation of distributed nonholonomic agents
Alina Eqtami, Shahab Heshmati-alamdari, Dimos V Dimarogonas, Kostas J Kyriakopoulos
IEEE 52nd Annual Conference on Decision and Control (CDC), 2013.

[C1] Self-triggered model predictive control for nonholonomic systems
Alina Eqtami,Shahab Heshmati-alamdari, Dimos V Dimarogonas, Kostas J Kyriakopoulos
European Control Conference (ECC), 17-19 July 2013.

[B2] Sensor-based Motion Control of Autonomous Underwater Vehicles, Part II: Robust Motion Control Strategies
Charalampos P. Bechlioulis, Shahab Heshmati-alamdari, George C. Karras, Panos Marantos and Kostas J. Kyriakopoulos1
IET Book, “Autonomous Underwater Vehicles: Design and practice”, Frank Ehlers, ISBN: 978-1-78561-703-4, in press.

[B1] Sensor-based Motion Control of Autonomous Underwater Vehicles, Part I: Modeling & Low Complexity State Estimation
George C. Karras, Charalampos P. Bechlioulis, Panos Marantos, Shahab Heshmati-alamdari and Kostas J. Kyriakopoulos
in IET Book, “Autonomous Underwater Vehicles: Design and practice”, Frank Ehlers, ISBN: 978-1-78561-703-4, in press.

[T2] Cooperative and Interaction Control for Underwater Robotic Vehicles
Shahab Heshmati-alamdari
PhD Dissertation, National Technical University of Athens, Athens, 2018

[T1] Modeling, Parameters’ Identification and Control of a Inverted Pendulum
Shahab Heshmati-alamdari
MSc Thesis, National Technical University of Athens, Athens, 2012