Related papers: A dynamical model of remote-control model cars
In this article we examine the dynamics of a colloidal particle driven by a modulated force over a sinusoidal optical potential energy landscape. Coupling between the competing frequencies of the modulated drive and that of particle motion…
Previous experiments [M. J. Coleman and A. Ruina, Phys. Rev. Lett. 80, 3658 (1998)] showed that a gravity-powered toy with no control and which has no statically stable near-standing configurations can walk stably. We show here that a…
We provide an ice friction model for vehicle dynamics of a two-man bobsled which can be used for driver evaluation and in a driver-in-the-loop simulator. Longitudinal friction is modeled by combining experimental results with finite element…
Robots must make and break contact with the environment to perform useful tasks, but planning and control through contact remains a formidable challenge. In this work, we achieve real-time contact-implicit model predictive control with a…
The challenges presented in an autonomous racing situation are distinct from those faced in regular autonomous driving and require faster end-to-end algorithms and consideration of a longer horizon in determining optimal current actions…
The increasing, high-risk interactions between vehicles and vulnerable micromobility users, such as e-scooter riders, challenge vehicular safety functions and Automated Driving (AD) techniques, often resulting in severe consequences due to…
With increasing automation in passenger vehicles, the study of safe and smooth occupant-vehicle interaction and control transitions is key. In this study, we focus on the development of contextual, semantically meaningful representations of…
Autonomous racing has emerged as a crucial testbed for autonomous driving algorithms, necessitating a simulation environment for both vehicle dynamics and sensor behavior. Striking the right balance between vehicle dynamics and sensor…
We introduce a modeling framework for manipulation planning based on the formulation of the dynamics as a projected dynamical system. This method uses implicit signed distance functions and their gradients to formulate an equivalent…
The physics of walking is explored, using a toy as a concrete example and a 'toy' model applied to it. Besides the Newton's second law, the problem is also discussed from the thermodynamical perspective. Once the steady state (constant…
Vision is one of the primary sensing modalities in autonomous driving. In this paper we look at the problem of estimating the velocity of road vehicles from a camera mounted on a moving car. Contrary to prior methods that train end-to-end…
Experiments on the motion of a particle on an inclined rough plane have yielded some surprising results. For example, it was found that the frictional force acting on the ball is viscous, {\it i.e.} proportional to the velocity rather than…
We consider the problem of feasible coordination control for multiple homogeneous or heterogeneous mobile vehicles subject to various constraints (nonholonomic motion constraints, holonomic coordination constraints, equality/inequality…
Safely interacting with humans is a significant challenge for autonomous driving. The performance of this interaction depends on machine learning-based modules of an autopilot, such as perception, behavior prediction, and planning. These…
Designing effective rehabilitation strategies for upper extremities, particularly hands and fingers, warrants the need for a computational model of human motor learning. The presence of large degrees of freedom (DoFs) available in these…
We discuss a general method of model selection from experimentally recorded time-trace data. This method can be used to distinguish between quantum and classical dynamical models. It can be used in post-selection as well as for real-time…
In this contribution, we introduce a general class of car-following models with an input-state-output port-Hamiltonian structure. We derive stability conditions and long-term behavior of the finite system with periodic boundaries and…
Among the intelligent safety technologies for road vehicles, active suspensions controlled by embedded computing elements for preventing rollover have received a lot of attention. The existing models for synthesizing and allocating forces…
We introduce a variational algorithm to estimate the likelihood of a rare event within a nonequilibrium molecular dynamics simulation through the evaluation of an optimal control force. Optimization of a control force within a chosen basis…
This technical note is concerned with boundary stabilization of multi-dimensional discrete-velocity kinetic models. By exploiting a certain stability structure of the models and adapting an appropriate Lyapunov functional, we derive…