Mohamed W. Mehrez

Publications21
h-index8
Citations174
Highly Influential Citations2
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Model Predictive Control of Nonholonomic Mobile Robots Without Stabilizing Constraints and Costs
TLDR
A model predictive control (MPC) scheme based on tailored nonquadratic stage cost is proposed to fulfill the regulation problem of unicycle nonholonomic mobile robots. Expand
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Effect of the joint inertia on selection of under-actuated control algorithm for flexible-link manipulators
Abstract In this paper, two control techniques, namely computed torque law and composite control based on the singular perturbation approach, are used to control the motion of a flexible-link… Expand
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Regulation of Differential Drive Robots using Continuous Time MPC without Stabilizing Constraints or Costs
In this paper, model predictive control (MPC) of differential drive robots is considered. Here, we solve the set point stabilization problem without incorporating stabilizing constraints and/or costs… Expand
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Occupancy grid based distributed MPC for mobile robots
TLDR
In this paper, we introduce a novel approach of reducing the communication load in distributed model predictive control (DMPC) for mobile robots. Expand
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An Optimization Based Approach for Relative Localization and Relative Tracking Control in Multi-Robot Systems
TLDR
In this paper, an optimization based method is used for relative localization and relative trajectory tracking control in Multi-Robot Systems (MRS’s). Expand
  • 16
Stabilizing NMPC of wheeled mobile robots using open-source real-time software
TLDR
In this paper, a recently developed open-source toolkit implementing fast nonlinear model predictive control (NMPC) routines has been utilized to achieve the two main control objectives of nonholonomic mobile robots, namely, point stabilization and trajectory tracking. Expand
  • 9
Predictive Path Following of Mobile Robots without Terminal Stabilizing Constraints
Abstract This paper considers model predictive path-following control for differentially driven mobile robots and state-space paths. In contrast to previous works, we analyze stability of model… Expand
  • 9
Comparison of stabilizing NMPC designs for wheeled mobile robots: An experimental study
In this paper, two stabilizing nonlinear model predictive control (NMPC) designs, namely, final-state equality constraint stabilizing design and final-state inequality constraint stabilizing design… Expand
  • 5
Differential communication with distributed MPC based on occupancy grid
TLDR
We introduce a Distributed Model Predictive Control (DMPC) algorithm which is based on the novel idea of projecting predicted trajectories on a quantised spatial set to reduce the communication load. Expand
  • 4
Nonlinear moving horizon state estimation for multi-robot relative localization
TLDR
This paper presents a novel approach for a multi-robot system's relative localization (RL), where one or more robots are located and tracked with respect to another robot frame of reference. Expand
  • 6