Related papers: A new model-free design for vehicle control and it…
Cooperative control of Connected and Autonomous Vehicles (CAVs) promises great benefits for mixed traffic. Most existing research focuses on model-based control strategies, assuming that car-following dynamics of human-driven vehicles are…
In this paper, we study the longitudinal control problem for a platoon of vehicles with unknown nonlinear dynamics under both the predecessor-following and the bidirectional control architectures. The proposed control protocols are fully…
It is widely acknowledged that drivers should remain in the control loop of automated vehicles before they completely meet real-world operational conditions. This paper introduces an `indirect shared control' scheme for steer-by-wire…
Recent efforts in the development of autonomous driving technology have induced great advancements in perception, planning and control systems. Model predictive control is one of the most popular advanced control methods, but its…
Choosing an appropriate parameter set for the designed controller is critical for the final performance but usually requires a tedious and careful tuning process, which implies a strong need for automatic tuning methods. However, among…
In this paper, we present a novel control law for longitudinal speed control of autonomous vehicles. The key contributions of the proposed work include the design of a control law that reactively integrates the longitudinal surface gradient…
Models for vehicle dynamics play an important role in maneuver planning for automated driving. They are used to derive trajectories from given control inputs, or to evaluate a given trajectory in terms of constraint violation or optimality…
Autonomous underwater vehicles (AUV) have become the de facto vehicle for remote operations involving oceanography, inspection, and monitoring tasks. These vehicles operate in different and often challenging environments; hence, the design…
The use of virtual safety assessment as the primary method for evaluating vehicle safety technologies has emphasized the importance of crash scenario generation. One of the most common crash types is the rear-end crash, which involves a…
Off-road driving operations can be a challenging environment for human conductors as they are subject to accidents, repetitive and tedious tasks, strong vibrations, which may affect their health in the long term. Therefore, they can benefit…
Autonomous driving has gained significant advancements in recent years. However, obtaining a robust control policy for driving remains challenging as it requires training data from a variety of scenarios, including rare situations (e.g.,…
A reliable controller is critical and essential for the execution of safe and smooth maneuvers of an autonomous vehicle.The controller must be robust to external disturbances, such as road surface, weather, and wind conditions, and so on.It…
This is a complementary document to the paper presented in [1], to provide more detailed proofs for some results. The main paper addresses the problem of trajectory tracking control of autonomous rotorcraft in operation scenarios where only…
This paper proposes an extensive overview of safety applications and approaches as it relates to automated driving from the prospectives of sensor configurations, vehicle dynamics modelling, tyre modeling, and estimation approaches. First,…
In this paper, we design decentralized control strategies for the two-dimensional movement of autonomous vehicles on lane-free roads. The bicycle kinematic model is used to model the dynamics of the vehicles, and each vehicle determines its…
This paper presents a novel two-level control architecture for a fully autonomous vehicle in a deterministic environment, which can handle traffic rules as specifications and low-level vehicle control with real-time performance. At the top…
This work provides a framework for nonlinear model-free control of systems with unknown input-output dynamics, but outputs that can be controlled by the inputs. This framework leads to real-time control of the system such that a feasible…
Simulation systems have become an essential component in the development and validation of autonomous driving technologies. The prevailing state-of-the-art approach for simulation is to use game engines or high-fidelity computer graphics…
We present an integrated approach for perception and control for an autonomous vehicle and demonstrate this approach in a high-fidelity urban driving simulator. Our approach first builds a model for the environment, then trains a policy…
The paper proposes a feed-forward control strategy for mobile robot control that accounts for a non-linear model of the vehicle with interaction between inputs and outputs. It is possible to include specific model uncertainties in the…