Related papers: Multi-vehicle Path Following using Modified Trajec…
Complying with traffic rules is challenging for automated vehicles, as numerous rules need to be considered simultaneously. If a planned trajectory violates traffic rules, it is common to replan a new trajectory from scratch. We instead…
This paper investigates the lateral control problem in vehicular path-following when the feedback sensor(s) are mounted at an arbitrary location in the longitudinal symmetric axis. We point out that some existing literature has abused the…
Recent research has paid little attention to complex driving behaviors, namely merging car-following and lane-changing behavior, and how lane-changing affects algorithms designed to model and control a car-following vehicle. During the…
Autonomous driving promises to transform road transport. Multi-vehicle and multi-lane scenarios, however, present unique challenges due to constrained navigation and unpredictable vehicle interactions. Learning-based methods---such as deep…
We present an adaptive control scheme to enable the emergence of order within distributed, autonomous multi-agent systems. Past studies showed that under high-density conditions, order generated from traffic-following behavior reduces…
Deep networks trained on demonstrations of human driving have learned to follow roads and avoid obstacles. However, driving policies trained via imitation learning cannot be controlled at test time. A vehicle trained end-to-end to imitate…
Predicting human behavior is a difficult and crucial task required for motion planning. It is challenging in large part due to the highly uncertain and multi-modal set of possible outcomes in real-world domains such as autonomous driving.…
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…
The distinctive feature of a polynomial parametric speed let polynomial Pythagorean-hodograph (PH) curves be attractive for the design of accurate and efficient application algorithms. We propose a robust path following scheme for the…
High-resolution radar sensors are able to resolve multiple detections per object and therefore provide valuable information for vehicle environment perception. For instance, multiple detections allow to infer the size of an object or to…
With the rapid development of machine learning, autonomous driving has become a hot issue, making urgent demands for more intelligent perception and planning systems. Self-driving cars can avoid traffic crashes with precisely predicted…
We present a novel algorithm to match GPS trajectories onto maps offline (in batch mode) using techniques borrowed from the field of force-directed graph drawing. We consider a simulated physical system where each GPS trajectory is…
Path following controllers make the output of a control system approach and traverse a pre-specified path with no apriori time parametrization. In this paper we present a method for path following control design applicable to framed curves…
This paper proposes a control architecture for autonomous lane keeping by a vehicle. In this paper, the vehicle dynamics consist of two parts: lateral and longitudinal dynamics. Therefore, the control architecture comprises two subsequent…
Accurate trajectory prediction of nearby vehicles is crucial for the safe motion planning of automated vehicles in dynamic driving scenarios such as highway merging. Existing methods cannot initiate prediction for a vehicle unless observed…
In this paper we study a path-following problem on $R^3$ with a non-holonomic constraint. The geometric structure associated to the velocity constraint is explored, and general principles for constructing guiding vector fields are obtained,…
We consider the problem of cooperative manipulation by a mobile multi-manipulator system operating in obstacle-cluttered and highly constrained environments under spatio-temporal task specifications. The task requires transporting a grasped…
We study the problem of optimizing a guidance policy capable of dynamically guiding the agents for lifelong Multi-Agent Path Finding based on real-time traffic patterns. Multi-Agent Path Finding (MAPF) focuses on moving multiple agents from…
Path planning in an uncertain environment is a key enabler of true vehicle autonomy. Over the past two decades, numerous approaches have been developed to account for errors in the vehicle path while navigating complex and often uncertain…
This Technical Note presents a simple control approach for global trajectory tracking and formation control of underactuated surface vessels equipped with only two propellers. The control approach exploits the inherent cascaded structure of…