Related papers: Target-point based path following controller for a…
This paper aims to provide a new problem formulation of path following for mechanical systems without time parameterization nor guidance laws, namely, we express the control objective as an orbital stabilization problem. It is shown that,…
Vision-based learning methods for self-driving cars have primarily used supervised approaches that require a large number of labels for training. However, those labels are usually difficult and expensive to obtain. In this paper, we…
Vehicle control is one of the most critical challenges in autonomous vehicles (AVs) and connected and automated vehicles (CAVs), and it is paramount in vehicle safety, passenger comfort, transportation efficiency, and energy saving. This…
This article presents a state feedback control design strategy for the stabilization of a vehicle along a reference collision avoidance maneuver. The stabilization of the vehicle is achieved through a combination of steering, acceleration…
Simulating realistic driving behavior is crucial for developing and testing autonomous systems in complex traffic environments. Equally important is the ability to control the behavior of simulated agents to tailor scenarios to specific…
In this paper, we present a novel vision-based framework for tracking dynamic objects using guidance laws based on a rendezvous cone approach. These guidance laws enable an unmanned aircraft system equipped with a monocular camera to…
This article addresses the obstacle avoidance problem for setpoint stabilization and path-following tasks in complex dynamic 2D environments that go beyond conventional scenes with isolated convex obstacles. A combined motion planner and…
This paper presents an adaptive, model-based, nonlinear controller for the bicopter trajectory-tracking problem. The nonlinear controller is constructed by dynamically extending the bicopter model, stabilizing the extended dynamics using…
In order to mitigate economical, ecological, and societal challenges in electric scooter (e-scooter) sharing systems, we develop an autonomous e-scooter prototype. Our vision is to design a fully autonomous prototype that can find its way…
A circular pursuit guidance problem involving pursuer-target engagement is studied in this paper using a bifurcation theory based numerical approach. While target is modeled as a point mass moving around in a circle with certain velocity,…
When an unmanned system is launched for a mission-critical task, it is required to follow a predetermined path. It means the unmanned system requires a path following algorithm for the completion of the mission. Since the predetermined path…
Automated driving systems are often used for lane keeping tasks. By these systems, a local path is planned ahead of the vehicle. However, these paths are often found unnatural by human drivers. We propose a linear driver model, which can…
Safe and smooth robot motion around obstacles is an essential skill for autonomous robots, especially when operating around people and other robots. Conventionally, due to real-time operation requirements and onboard computation…
Existing vision based supervised approaches to lateral vehicle control are capable of directly mapping RGB images to the appropriate steering commands. However, they are prone to suffering from inadequate robustness in real world scenarios…
Occlusion is a long-standing problem that causes many modern tracking methods to be erroneous. In this paper, we address the occlusion problem by exploiting the current and future possible locations of the target object from its past…
Motivated by vision-based control of autonomous vehicles, we consider the problem of controlling a known linear dynamical system for which partial state information, such as vehicle position, is extracted from complex and nonlinear data,…
In this paper, adaptive set-point regulation controllers for discrete-time nonlinear systems are constructed. The system to be controlled is assumed to have a parametric uncertainty, and an excitation signal is used in order to obtain the…
Solving optimal control problems to determine a stabilizing controller involves a significant computational effort. Time-varying optimal control provides a remedy by designing a tracking system, given as an ordinary differential equation,…
Autonomous driving presents many challenges due to the large number of scenarios the autonomous vehicle (AV) may encounter. End-to-end deep learning models are comparatively simplistic models that can handle a broad set of scenarios.…
Leader-follower tracking control design has received significant attention in recent years due to its important and wide applications. Considering a multi-agent system composed of a leader and multiple followers, this paper proposes and…