Related papers: Tracking Control by the Newton-Raphson Flow: Appli…
The emergence of autonomous vehicles is expected to revolutionize road transportation in the near future. Although large-scale numerical simulations and small-scale experiments have shown promising results, a comprehensive theoretical…
The simulation of traffic flow on networks requires knowledge on the behavior across traffic intersections. For macroscopic models based on hyperbolic conservation laws there exist nowadays many ad-hoc models describing this behavior. Based…
In this paper, the notion of contraction is used to solve the trajectory-tracking problem for a class of mechanical systems. Additionally, we propose a dynamic extension to remove velocity measurements from the controller while rejecting…
This literature review focuses on three important aspects of an autonomous car system: tracking (assessing the identity of the actors such as cars, pedestrians or obstacles in a sequence of observations), prediction (predicting the future…
Leader-follower tracking control design has received significant attention in recent years due to its important and wide applications. Considering a multi-agent system composed of a leader and multiple followers, this paper proposes and…
In this paper we numerically explore the convergence properties of the pseudo-Newtonian circular restricted problem of three and four primary bodies. The classical Newton-Raphson iterative scheme is used for revealing the basins of…
This work links optimization approaches from hierarchical least-squares programming to instantaneous prioritized whole-body robot control. Concretely, we formulate the hierarchical Newton's method which solves prioritized non-linear…
When connected and autonomous vehicles (CAVs) are widely used in the future, we can foresee many essential applications, such as platoon formation and autonomous police patrolling, which need two CAVs, originally separated in a mixed…
Perception of the lane boundaries is crucial for the tasks related to autonomous trajectory control. In this paper, several methodologies for lane detection are discussed with an experimental illustration: Hough transformation, Blob…
We formulate a steady-state network flow problem for non-ideal gas that relates injection rates and nodal pressures in the network to flows in pipes. For this problem, we present and prove a theorem on uniqueness of generalized solution for…
Learning the inverse dynamics of soft continuum robots remains challenging due to high-dimensional nonlinearities and complex actuation coupling. Conventional feedback-based controllers often suffer from control chattering due to corrective…
The accelerated deployment of service robots have spawned a number of algorithm variations to better handle real-world conditions. Many local trajectory planning techniques have been deployed on practical robot systems successfully. While…
This work presents proximally optimal predictive control algorithm, which is essentially a model-based lateral controller for steered autonomous vehicles that selects an optimal steering command within the neighborhood of previous steering…
Trajectory following is one of the complicated control problems when its dynamics are nonlinear, stochastic and include a large number of parameters. The problem has significant difficulties including a large number of trials required for…
Autonomous vehicle navigation is a key challenge in artificial intelligence, requiring robust and accurate decision-making processes. This research introduces a new end-to-end method that exploits multimodal information from a single…
A fundamental aspect of racing is overtaking other race cars. Whereas previous research on autonomous racing has majorly focused on lap-time optimization, here, we propose a method to plan overtaking maneuvers in autonomous racing. A…
This work presents a novel framework for the formation control of multiple autonomous ground vehicles in an on-road environment. Unique challenges of this problem lie in 1) the design of collision avoidance strategies with obstacles and…
Output reference tracking of unknown nonlinear systems is considered. The control objective is exact tracking in predefined finite time, while in the transient phase the tracking error evolves within a prescribed boundary. To achieve this,…
Precise motion control of underactuated surface vessels is a crucial task in various maritime applications. In this work, we develop a nonlinear motion control strategy for surface vessels inspired by the pursuit guidance philosophy. Any…
Moving bottlenecks, such as slow-driving vehicles, are commonly thought of as impediments to efficient traffic flow. Here, we demonstrate that in certain situations, moving bottlenecks---properly controlled---can actually be beneficial for…