Expertise
Computer Science
- Robot
- Neural Network
- Parameter Uncertainty
- Reinforcement Learning
Earth and Planetary Sciences
- Attitude Control
- Dynamic Models
- Numerical Simulation
- Robotics
Organisations
Ayham Alharbat is a researcher at the Smart Mechatronics and Robotics Research Group in Saxion University of Applied Sciences with prof. Abeje Mersha, and a PhD candidate at the Robotics and Mechatronics Lab at the University of Twente, with dr. Chiara Gabellieri and prof. Antonio Franchi . His research focuses on the modelling and control of Floating-body Robots, with applications to Physically Interactive Aerial and Legged Robots, and the use of optimal control methods to improve the performance, safety, and adaptability of the physical interaction.
Publications
2025
Predictive Admittance Control for Aerial Physical Interaction (2025)IEEE Robotics and automation letters, 10(11), 11235-11242. Alharbat, A., Gabellieri, C., Mersha, A. & Franchi, A.https://doi.org/10.1109/LRA.2025.3608653External-Wrench Estimation for Aerial Robots Exploiting a Learned Model (2025)[Working paper › Preprint]. ArXiv.org. Alharbat, A., Ruscelli, G., Diversi, R. & Mersha, A.https://doi.org/10.48550/arXiv.2504.08156External-Wrench Estimation for Aerial Robots Exploiting a Learned Model (2025)[Contribution to conference › Paper] International Conference on Unmanned Aircraft Systems, ICUAS 2025. Alharbat, A., Ruscelli, G., Diversi, R. & Mersha, A.RL-based Control of UAS Subject to Significant Disturbance (2025)[Working paper › Preprint]. ArXiv.org. Chakraborty, K., Hof, T., Alharbat, A. & Mersha, A.https://doi.org/10.48550/arXiv.2504.08114RL-based Control of UAS Subject to Significant Disturbance (2025)[Contribution to conference › Paper] International Conference on Unmanned Aircraft Systems, ICUAS 2025 (Accepted/In press). Chakraborty, K., Hof, T., Alharbat, A. & Mersha, A.Multirotor UAV—A Multidisciplinary Platform for Teaching Mechatronics Engineering (2025)Sensors (Switzerland), 25(4). Article 1007. Kotarski, D., Pranjić, M., Alharbat, A., Piljek, P. & Bjažić, T.https://doi.org/10.3390/s25041007
2024
Sarax: An Open-Source Software/Hardware Framework for Aerial Manipulators (2024)In 2024 International Conference on Unmanned Aircraft Systems (ICUAS) (Proceedings International Conference on Unmanned Aircraft Systems (ICUAS); Vol. 2024). IEEE. Alharbat, A., Zwakenberg, D., Esmaeeli, H. & Mersha, A.https://doi.org/10.1109/ICUAS60882.2024.10556971
2022
Three Fundamental Paradigms for Aerial Physical Interaction Using Nonlinear Model Predictive Control (2022)In 2022 International Conference on Unmanned Aircraft Systems, ICUAS 2022 (pp. 39-48). Article 9836221. IEEE. Alharbat, A., Esmaeeli, H., Bicego, D., Mersha, A. & Franchi, A.https://doi.org/10.1109/ICUAS54217.2022.9836221
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