Related papers: Multi-vehicle Path Following using Modified Trajec…
In this article a solution to the problem of following a curved path in the presence of a constant unknown ocean current disturbance is presented. The path is parametrised by a path variable that is used to propagate a path-tangential…
In this paper a solution to the problem of following a curved path in the presence of a constant unknown ocean current disturbance is presented. We introduce a path variable that represents the curvilinear abscissa on the path which is used…
This paper addresses the path following control problem for scale-model fixed-wing aircraft. Kinematic guidance and dynamic control laws are developed within a single coherent framework that exploits a simple generic model of aerodynamics…
The operation of an autonomous underwater vehicle (AUV) faces challenges in following predetermined waypoints due to coupled motions under environmental disturbances. To address this, a 3D path following guidance and control system is…
In the real-world, self-driving vehicles are required to achieve steering maneuvers in both uncontrolled and uncertain environments while maintaining high levels of safety and passengers' comfort. Ignoring these requirements would…
In this paper, two cooperative guidance laws based on the area around the target of multiattackers are designed to deal with the problem of cooperative encirclement or simultaneous attack in the case of known target acceleration and unknown…
The focus of this paper is to develop a methodology that enables an unmanned surface vehicle (USV) to efficiently track a planned path. The introduction of a vector field-based adaptive line of-sight guidance law (VFALOS) for accurate…
Considering high speed following on expressway or highway, an improved car-following model is developed in this paper by introducing variable safety headway distance. Stability analysis of the new model is carried out using the control…
This note proposes a general control approach, called vector-field guided constraint-following control, to solve the dynamics control problem of geometric path-following for a class of uncertain mechanical systems. More specifically, it…
In this work, we propose a learning based neural model that provides both the longitudinal and lateral control commands to simultaneously navigate multiple vehicles. The goal is to ensure that each vehicle reaches a desired target state…
We present an approach to path following using so-called control funnel functions. Synthesizing controllers to "robustly" follow a reference trajectory is a fundamental problem for autonomous vehicles. Robustness, in this context, requires…
We present a new method for multi-modal, long-term vehicle trajectory prediction. Our approach relies on using lane centerlines captured in rich maps of the environment to generate a set of proposed goal paths for each vehicle. Using these…
Vehicle trajectory optimization is essential to ensure vehicles travel efficiently and safely. This paper presents an infrastructure assisted constrained connected automated vehicles (CAVs) trajectory optimization method on curved roads.…
This paper investigates the safe platoon formation tracking and merging control problem of connected and automated vehicles (CAVs) on curved multi-lane roads. The first novelty is the separation of the control designs into two distinct…
This paper studies a leader-follower formation tracking problem where the leaders are moving at the same unknown bounded velocity. A distance-based control law is proposed for follower agents to maintain the desired distances in the…
We study the navigation problem for a robot moving amidst static and dynamic obstacles and rely on a hierarchical approach to solve it. First, the reference trajectory is planned by the safe interval path planning algorithm that is capable…
When driving, people make decisions based on current traffic as well as their desired route. They have a mental map of known routes and are often able to navigate without needing directions. Current self-driving models improve their…
Biomimetic autonomous underwater vehicle (BAUV) with multi-link mechanism is widely used in aquatic life observation and environmental surveys due to its low power consumption and high maneuverability. An environmental survey requires a…
Notwithstanding the growing presence of AGVs in the industry, there is a lack of research about multi-wheeled AGVs which offer higher maneuverability and space efficiency. In this paper, we present generalized path continuity conditions as…
This paper presents an experimental study of a path-tracking framework for autonomous vehicles in which the lateral control command is applied to a dynamic control point along the wheelbase. Instead of enforcing a fixed reference at either…