Related papers: A Distributed Model Predictive Control Framework f…
Reverse parking maneuvers of a vehicle with trailer system is a challenging task to complete for human drivers due to the unstable nature of the system and unintuitive controls required to orientate the trailer properly. This paper hence…
To ensure user acceptance of autonomous vehicles (AVs), control systems are being developed to mimic human drivers from demonstrations of desired driving behaviors. Imitation learning (IL) algorithms serve this purpose, but struggle to…
This paper tackles the distributed leader-follower (L-F) control problem for heterogeneous mobile robots in unknown environments requiring obstacle avoidance, inter-robot collision avoidance, and reliable robot communications. To prevent an…
This paper addresses the problem of distance- and orientation-based formation control of a class of second-order nonlinear multi-agent systems in 3D space, under static and undirected communication topologies. More specifically, we design a…
For the optimum design of a driver-automation shared control system, an understanding of driver behavior based on measurements and modeling is crucial early in the development process. This paper presents a driver model through a weighting…
Platoon formation with connected and automated vehicles (CAVs) in a mixed traffic environment poses significant challenges due to the presence of human-driven vehicles (HDVs) with unknown dynamics and control actions. In this paper, we…
A robust Model Predictive Control (MPC) approach for controlling front steering of an autonomous vehicle is presented in this paper. We present various approaches to increase the robustness of model predictive control by using weight…
This paper studies the tracking control problem for nonholonomic mobile robots based on second order dynamics, with application to consensus tracking and formation tracking. The greatest novelty in this paper is that the reference…
We present a hierarchical control approach for maneuvering an autonomous vehicle (AV) in tightly-constrained environments where other moving AVs and/or human driven vehicles are present. A two-level hierarchy is proposed: a high-level…
This paper proposes a non-linear Model Predictive Contouring Control (MPCC) for obstacle avoidance in automated vehicles driven at the limit of handling. The proposed controller integrates motion planning, path tracking and vehicle…
Developing safe automated vehicles that can be proactive, safe, and comfortable in mixed traffic requires improved planning methods that are risk-averse and that account for predictions of the motion of other road users. To consider these…
Driverless vehicles are complex systems operating in constantly changing environments. Automated driving is achieved by controlling the coupled longitudinal and lateral vehicle dynamics. Model predictive control is one of the most promising…
In this paper, we consider the two dimensional (2-D) predecessor-following control problem for a platoon of unicycle vehicles moving on a planar surface. More specifically, we design a decentralized kinematic control protocol, in the sense…
Automating drone-assisted processes is a complex task. Many solutions rely on trajectory generation and tracking, whereas in contrast, path-following control is a particularly promising approach, offering an intuitive and natural approach…
Occlusion-aware prediction remains a critical challenge in autonomous driving due to the inherent uncertainty of unobserved regions. Existing approaches either overestimate risk based on reachable states or struggle to predict accurate…
Cooperative adaptive cruise control presents an opportunity to improve road transportation through increase in road capacity and reduction in energy use and accidents. Clever design of control algorithms and communication systems is…
The ability to predict the future trajectories of traffic participants is crucial for the safe and efficient operation of autonomous vehicles. In this paper, a diffusion-based generative model for multi-agent trajectory prediction is…
In this paper, we propose a new model predictive control (MPC) formulation for autonomous driving. The novelty of our MPC stems from the following results. Firstly, we adopt an alternating minimization approach wherein linear velocities and…
This article presents an in-depth review of the topic of path following for autonomous robotic vehicles, with a specific focus on vehicle motion in two dimensional space (2D). From a control system standpoint, path following can be…
We consider the problem of bridging the gap between geometric tracking control theory and implementation of model predictive control (MPC) for robotic systems operating on manifolds. We propose a generic on-manifold MPC formulation based on…