Related papers: 3-D Velocity Regulation for Nonholonomic Source Se…
This paper proposes a novel learning-based control policy with strong generalizability to new environments that enables a mobile robot to navigate autonomously through spaces filled with both static obstacles and dense crowds of…
Motion planning under uncertainty is one of the main challenges in developing autonomous driving vehicles. In this work, we focus on the uncertainty in sensing and perception, resulted from a limited field of view, occlusions, and sensing…
This paper considers the problem of simultaneous estimation of the attitude, position and linear velocity for vehicles navigating in a three-dimensional space. We propose two types of hybrid nonlinear observers using continuous angular…
In this work, we present a learning method for lateral and longitudinal motion control of an ego-vehicle for vehicle pursuit. The car being controlled does not have a pre-defined route, rather it reactively adapts to follow a target vehicle…
This paper addresses the problem of longitudinal platooning control of homogeneous vehicles subject to external disturbances, such as wind gusts, road slopes, and parametric uncertainties. Our control objective is to maintain the relative…
The problem of tracking an arbitrary curve in the state space is considered for underactuated driftless control-affine systems. This problem is formulated as the stabilization of a time-varying family of sets associated with a neighborhood…
This paper focuses on the motion planning for mobile robots in 3D, which are modelled by 6-DOF rigid body systems with nonholonomic kinematics constraints. We not only specify the target position, but also bring in the requirement of the…
Methods tackling multi-object tracking need to estimate the number of targets in the sensing area as well as to estimate their continuous state. While the majority of existing methods focus on data association, precise state (3D pose)…
In this paper, we address the problem of enclosing an arbitrarily moving target in three dimensions by a single pursuer while ensuring the pursuer's safety by preventing collisions with the target. The proposed guidance strategy steers the…
This work addresses the problem of constrained motion control of the uncrewed surface vessels. The constraints are imposed on states/inputs of the vehicles due to the physical limitations, mission requirements, and safety considerations. We…
In this paper, we propose a distributed solution to the navigation of a population of unmanned aerial vehicles (UAVs) to best localize a static source. The network is considered heterogeneous with UAVs equipped with received signal strength…
The emerging connected and automated vehicle technologies allow vehicles to perceive and process traffic information in a wide spatial range. Modeling nonlocal interactions between connected vehicles and analyzing their impact on traffic…
We present a novel extremum seeking method for affine connection mechanical control systems. The proposed control law involves periodic perturbation signals with sufficiently large amplitudes and frequencies. A suitable averaging analysis…
Trajectory generation for visually impaired scenarios requires smooth and temporally consistent state in structured, low-speed dynamic environments. However, traditional jerk-based heuristic trajectory sampling with independent segment…
Vector fields are advantageous in handling nonholonomic motion planning as they provide reference orientation for robots. However, additionally incorporating curvature constraints becomes challenging, due to the interconnection between the…
We design persistent surveillance strategies for the quickest detection of anomalies taking place in an environment of interest. From a set of predefined regions in the environment, a team of autonomous vehicles collects noisy observations,…
This paper presents a framework for stabilizing the Dubins vehicle model to zero in finite time (deadbeat parking) by interpreting distance as a time-like variable. We develop control laws that bring the system to a desired position and…
We study an adaptive source seeking problem, in which a mobile robot must identify the strongest emitter(s) of a signal in an environment with background emissions. Background signals may be highly heterogeneous and can mislead algorithms…
We present a complete characterization of shortest paths to a goal position for a vehicle with unicycle kinematics and a limited range sensor, constantly keeping a given landmark in sight. Previous work on this subject studied the optimal…
Safe, smooth, and optimal motion planning for nonholonomically constrained mobile robots and autonomous vehicles is essential for achieving reliable, seamless, and efficient autonomy in logistics, mobility, and service industries. In many…