Data-driven rock capture with a standard excavator via model-free reinforcement learning
Molaei, A., Heravi, M. & Ghabcheloo, R., May 2026, In: Automation in Construction. 185, 106869.
Publications
Publications 2026
Utilising mobile laser scanning point clouds to assess harvesting quality in thinning stands
Sagar, A., Pohjala, J., Muhojoki, J., Dhital, A., Kaartinen, H., Kärhä, K., Järvelin, K., Ghabcheloo, R., Hyyppä, J. & Kankare, V., June 2026, In: Science of remote sensing. 13, 100374.
Publications 2025
Minimally Conservative Controlled-Invariant Set Synthesis Using Control Barrier Certificates
Toulkani, N. E. & Ghabcheloo, R. In 2025 IEEE 64th Conference on Decision and Control (CDC), 2660-2666
Safety Filter Design for Articulated Frame Steering Vehicles In the Presence of Actuator Dynamics Using High-Order Control Barrier Functions
Toulkani, N. E. & Ghabcheloo, R. In 2025 European Control Conference (ECC), 2108-2113
Autonomous Wheel Loader Navigation Using Goal-Conditioned Actor-Critic MPC
Mäki-Penttilä, A., Toulkani, N. E. & Ghabcheloo, R., in 2025 IEEE International Conference on Robotics and Automation, ICRA 2025
Evaluation of Simulation Framework for Detecting the Quality of Forest Tree Stems
Sagar, A., Kärhä, K., Järvelin, K. & Ghabcheloo, R. In: Forests. 16, 6, 1023.
Physics-informed data-driven modeling of rock motion dynamics in excavation using a high-fidelity simulator
Heravi, M., Molaei, A. & Ghabcheloo, R. In: Simulation Modelling Practice and Theory. 145, 103208.
Representation Learning for Place Recognition Using MIMO Radar
Rai, P., Strokina, N. & Ghabcheloo, R., 2025, In: IEEE Open Journal of Intelligent Transportation Systems. 6, p. 144-154 11 p.
Technical design requirements of a safety reasoning module for run-time risk reduction in Highly Automated Off-road Mobile Machinery
de Koning, M., Minav, T. & Ghabcheloo, R., Aug 2025, In: Safety Science. 188, 106883.
Uncertainty-Driven Radar-Inertial Fusion for Instantaneous 3D Ego-Velocity Estimation
Rai, P. K., Kowsari, E., Strokina, N. & Ghabcheloo, R., 2025, Proceedings of the 2025 28th International Conference on Information Fusion, FUSION 2025. IEEE, 8 p.
Publications 2024
End-Effector Cartesian Velocity Control for Redundant Loader Cranes Using Reinforcement Learning
Taheri, A., Rankka, A., Gustafsson, P., Pajarinen, J. & Ghabcheloo, R. In: IEEE Transactions on Robotics. 41, p. 484-496 13 p.
A comprehensive approach to safety for highly automated off-road machinery under Regulation 2023/1230
de Koning, M., Machado, T., Ahonen, A., Strokina, N., Dianatfar, M., Rosa, F. D., Minav, T. & Ghabcheloo, R., Jul 2024, In: Safety Science. 175, 106517.
Automatic Loading of Unknown Material with a Wheel Loader Using Reinforcement Learning
Eriksson, D., Ghabcheloo, R. & Geimer, M., 2024, 2024 IEEE International Conference on Robotics and Automation (ICRA). IEEE, p. 3646-3652 7 p.
Impact of Data Quantity and Composition on Bucket Filling Performance for Wheel Loaders
Eriksson, D., Ghabcheloo, R. & Geimer, M., 2024, 2024 European Control Conference, ECC 2024. IEEE, p. 141-147 7 p.
Model Predictive Control Barrier Functions: Guaranteed Safety with Reduced Conservatism and Shortened Horizon
Abdi, H., Zhao, P., Hovakimyan, N. & Ghabcheloo, R., 2024, 2024 American Control Conference, ACC 2024. IEEE, p. 1652-1657 6 p.
Optimal sway motion reduction in forestry cranes
Kowsari, E. & Ghabcheloo, R., 2024, In: Frontiers in Robotics and AI. 11, 1417741.
Optimizing bucket-filling strategies for wheel loaders inside a dream environment
Eriksson, D., Ghabcheloo, R. & Geimer, M., 1 Dec 2024, In: Automation in Construction. 168, Part A, 105804.
Towards Safer Supervisor-Machine Shared Decision-Making for Runtime Hazard Mitigation in Highly Automated Off-road Machinery
Towards Safer Supervisor-Machine Shared Decision-Making for Runtime Hazard Mitigation in Highly Automated Off-road Machinery de Koning, M., Minav, T., Brown, W. L. & Ghabcheloo, R., 12 Jun 2024, Safety of Industrial Automated Systems – SIAS 2024, June 12-13, 2024, Tampere, Finland . Malm, T. (ed.). Suomen Automaatioseura, 6 p.
Publications 2023
4DEgo: ego-velocity estimation from high-resolution radar data
Rai, P., Strokina, N. & Ghabcheloo, R., 27 Jun 2023, In: Frontiers in Signal Processing. 3, frsip-03-1198205.
An exploratory study of software engineering in heavy-duty mobile machine automation
Ahonen, A., de Koning, M., Machado, T., Ghabcheloo, R. & Sievi-Korte, O., Jul 2023, In: ROBOTICS AND AUTONOMOUS SYSTEMS. 165, 20 p., 104424
Comparison of machine learning methods for automatic bucket filling: An imitation learning approach
Eriksson, D. & Ghabcheloo, R., Jun 2023, In: Automation in Construction. 150, 10 p., 104843.
Convex Synthesis of Control Barrier Functions Under Input Constraints
Zhao, P., Ghabcheloo, R., Cheng, Y., Abdi, H. & Hovakimyan, N., 2023, In: IEEE Control systems Letters. 7, p. 3102-3107 6 p.
Editorial: Motion Optimization and Control of Single and Multiple Autonomous Aerial, Land, and Marine Robots
Ghabcheloo, R. & Pascoal, A., Jan 2023, In: Sensors. 23, 1, 87.
Industry perspective of stakeholder relationships in the technology transition and automation of heavy-duty mobile machinery
Machado, T., Ghabcheloo, R. & Brach, C., 13 Dec 2023, The Eighteenth Scandinavian International Conference on Fluid Power, SICFP'23: Proceedings. Minav, T. & Uusi-Heikkilä, J. (eds.). Tampere University, p. 239-250 12 p.
Machine safety conformance limitations for highly automated and autonomous heavy-duty mobile machinery
de Koning, A. & Ghabcheloo, R., Feb 2023, The Future of Safe Systems: Proceedings of the 31st Safety-Critical Systems Symposium (SSS’23) 7-9th February 2023 . Parsons, M. (ed.). Safety-Critical Systems Symposium
Motion-Based Extrinsic Sensor-to-Sensor Calibration: Effect of Reference Frame Selection for New and Existing Methods
Välimäki, T., Garigipati, B. & Ghabcheloo, R., Apr 2023, In: Sensors. 23, 7, 3740.
Quantified Framework to Classify and Prioritize Stakeholders in Emergent Ecosystems
Machado, T., Ghabcheloo, R., Brach, C. & Seppänen, M., 13 Dec 2023, ISPIM Connects Salzburg – The Sound of Innovation. ISPIM publication, 18 p.
Reactive Safe Path Following for Differential Drive Mobile Robots Using Control Barrier Functions: 2022 10th International Conference on Control, Mechatronics and Automation (ICCMA)
Toulkani, N. E., Abdi, H., Koskelainen, O. & Ghabcheloo, R., 2023, 2022 10th International Conference on Control, Mechatronics and Automation (ICCMA). IEEE, p. 60-65 6 p.
Safe Control using Vision-based Control Barrier Function (V-CBF)
Abdi, H., Raja, G. & Ghabcheloo, R., 2023, 2023 Ieee International Conference On Robotics And Automation, Icra: IEEE International Conference on Robotics and Automation. IEEE, p. 782-788 7 p.
Safety architectures for cyber-physical systems: review of state-of-the-art and outlook for heavy duty mobile machinery
de Koning, M., Ahonen, A., Strokina, N. & Ghabcheloo, R., 2023, The Eighteenth Scandinavian International Conference on Fluid Power, SICFP'23: Proceedings. Minav, T. & Uusi-Heikkilä, J. (eds.). Tampere University, p. 224-238
Towards Energy Efficient Control for Commercial Heavy-Duty Mobile Cranes: Modeling Hydraulic Pressures using Machine Learning
Taheri, A., Pettersson, R., Gustafsson, P., Pajarinen, J. & Ghabcheloo, R., 2023, The Eighteenth Scandinavian International Conference on Fluid Power, SICFP'23: Proceedings. Minav, T. & Uusi-Heikkilä, J. (eds.). Tampere University, p. 408-417
Towards Multiple Material Loading for Wheel Loaders Using Transfer Learning
Eriksson, D., Ghabcheloo, R. & Geimer, M., 2023, The Eighteenth Scandinavian International Conference on Fluid Power, SICFP'23: Proceedings. Minav, T. & Uusi-Heikkilä, J. (eds.). Tampere University, p. 297-308
Tree stem geometry quality assist system for cut-to-length harvester operator - defining needs & solutions
Sagar, A., Einola, K. & Ghabcheloo, R., 2023, The Eighteenth Scandinavian International Conference on Fluid Power, SICFP'23: Proceedings. Minav, T. & Uusi-Heikkilä, J. (eds.). Tampere University, p. 334-347