Related papers: Optimal control based dynamics exploration of a ri…

Terrain traversability in unstructured off-road autonomy has traditionally relied on semantic classification, resource-intensive dynamics models, or purely geometry-based methods to predict vehicle-terrain interactions. While…

Obtaining a realistic and accurate model of the longitudinal dynamics is key for a good speed control of a self-driving car. It is also useful to simulate the longitudinal behavior of the vehicle with high fidelity. In this paper, a…

Model predictive control has emerged as an effective approach for real-time optimal control of connected and automated vehicles. However, nonlinear dynamics of vehicle and traffic systems make accurate modeling and real-time optimization…

This paper presents a combined strategy for tracking a non-holonomic mobile robot which works under certain operating conditions for system parameters and disturbances. The strategy includes kinematic steering and velocity dynamics learning…

This paper proposes a nonlinear control architecture for flexible aircraft simultaneous trajectory tracking and load alleviation. By exploiting the control redundancy, the gust and maneuver loads are alleviated without degrading the…

The ability to deal with systems parametric uncertainties is an essential issue for heavy self-driving vehicles in unconfined environments. In this sense, robust controllers prove to be efficient for autonomous navigation. However,…

We study the problem of data-driven, constrained control of unknown nonlinear dynamics from a single ongoing and finite-horizon trajectory. We consider a one-step optimal control problem with a smooth, black-box objective, typically a…

We present a holistically designed three layer control architecture capable of outperforming a professional driver racing the same car. Our approach focuses on the co-design of the motion planning and control layers, extracting the full…

This paper considers the optimal control problem of an extended spring-loaded inverted pendulum (SLIP) model with two additional actuators for active leg length and hip torque modulation. These additional features arise naturally in…

Drift control is significant to the safety of autonomous vehicles when there is a sudden loss of traction due to external conditions such as rain or snow. It is a challenging control problem due to the presence of significant sideslip and…

This paper devotes to the development of an optimal acceleration/speed profile for autonomous vehicles approaching a traffic light. The design objective is to achieve both short travel time and low energy consumption as well as avoid idling…

An omnidirectional multirotor has the maneuverability of decoupled translational and rotational motions, superseding the traditional multirotors' motion capability. Such maneuverability is achieved due to the ability of the omnidirectional…

This paper introduces a continuous-time constrained nonlinear control scheme which implements a model predictive control strategy as a continuous-time dynamic system. The approach is based on the idea that the solution of the optimal…

Trajectory optimization is a fundamental problem in robotics. While optimization of continuous control trajectories is well developed, many applications require both discrete and continuous, i.e., hybrid, controls. Finding an optimal…

Optimal processes in stochastic thermodynamics are a frontier for understanding the control and design of non-equilibrium systems, with broad practical applications in biology, chemistry, and nanoscale/mesoscale systems. Optimal mass…

Learning to perform perfect tracking tasks based on measurement data is desirable in the controller design of systems operating repetitively. This motivates the present paper to seek an optimization-based design approach for iterative…

In automotive engineering, designing for optimal vehicle dynamics is challenging due to the complexities involved in analysing the behaviour of a multibody system. Typically, a simplified set of dynamics equations for only the key bodies of…

This paper formulates optimal control problems for rigid bodies in a geometric manner and it presents computational procedures based on this geometric formulation for numerically solving these optimal control problems. The dynamics of each…

This paper examines the optimal velocity follow-the-leader dynamics, a microscopic traffic model, and explores different aspects of the dynamical model, with particular emphasis on collision analysis. More precisely, we present a rigorous…

This work addresses the problem of kinematic trajectory planning for mobile manipulators with non-holonomic constraints, and holonomic operational-space tracking constraints. We obtain whole-body trajectories and time-varying kinematic…