Design and implementation of a fault-tolerant controller using control allocation techniques in the presence of actuators saturation for a VTOL octorotor. - Hamid Hafezi; Ali Bakhtiari; Ali Khaki-Sedigh (Robotica, 2022)

Safe Human-Robot Motor Skill Learning Through Probabilistic Dynamic Movement Primitives and Control Barrier Functions. - Michail Theofanidis; Mohammadreza Davoodi; Hamid Hafezi; Nicholas R. Gans (ACC, 2024)