Mohammadhasan Faghihi

Mr. Mohammadhasan Faghihi

orcid

Research Focus & Metrics

Academic Career Length

1Year (2026-Present)

(Calculated once Scilit publication data is synced: current year − year of first publication + 1)

Representative Publications

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22 July 2026 in Robotics
Verified
Journal Article
Open access
PDF file
ZKZahra Kashi
Zahra Kashi
MFMohammadhasan Faghihi
Mohammadhasan Faghihi
Nargess Sadeghzadeh-NokhodberizNargess Sadeghzadeh-Nokhodberiz
Nargess Sadeghzadeh-Nokhodberiz
Allahyar MontazeriAllahyar Montazeri
Allahyar Montazeri
This paper presents a safe trajectory generation framework for formation production in Multi-Agent Systems (MASs). The proposed approach integrates coverage control with Control Barrier Functions (CBFs) to generate safe trajectories that guide agents from arbitrary initial positions to a desired formation. The environment is partitioned into informative and non-informative regions, where the informative regions characterize the desired geometric structure, which effectively defines the final formation. A coverage-control-based algorithm first generates nominal trajectories that drive agents toward these informative regions. To ensure safety, CBFs are incorporated as a supervisory layer that enforces obstacle avoidance and inter-agent collision avoidance while minimally modifying the nominal control inputs. Consequently, the resulting trajectories remain safe while preserving convergence toward the desired formation.