Related papers: A dynamical model of remote-control model cars
The simple realistic model of the tippe top is considered. An averaged system of equations of motion is obtained in special evolutionary variables. Through the qualitative analysis of this system the general features of the motion of the…
The problem of a car following a lead car driven with constant velocity is considered. To derive the governing equations for the following car dynamics a cost functional that ranks the outcomes of different driving strategies is…
Simulation is crucial in the development of autonomous driving software. In particular, assessing control algorithms requires an accurate vehicle dynamics simulation. However, recent publications use models with varying levels of detail.…
The optimal control of a mechanical system is of crucial importance in many realms. Typical examples are the determination of a time-minimal path in vehicle dynamics, a minimal energy trajectory in space mission design, or optimal motion…
This article examines a symbolic numerical approach to optimize a vehicle's track for autonomous driving and collision avoidance. The new approach uses the classical cost function definition incorporating the essential aspects of the…
This paper presents a method for identifying mechanical parameters of robots or objects, such as their mass and friction coefficients. Key features are the use of off-the-shelf physics engines and the adaptation of a Bayesian optimization…
Underactuated robots are characterized by a larger number of degrees of freedom than actuators and if they are designed with a specific mass distribution, they can be controlled by means of differential flatness theory. This structural…
In this work the problem of path planning for an autonomous vehicle that moves on a freeway is considered. The most common approaches that are used to address this problem are based on optimal control methods, which make assumptions about…
An optimal control problem for longitudinal motions of a thin elastic rod is considered. We suppose that a normal force, which changes piecewise constantly along the rod's length, is applied to the cross-section so that the positions of…
Adverse road conditions can cause vehicle yaw instability and loss of traction. To compensate for the instability under such conditions, corrective actions must be taken. In comparison to a mechanical differential, an electronic…
The stochastic driving force exerted by a single molecular motor (e.g., a kinesin, or myosin) moving on a periodic molecular track (microtubule, actin filament, etc.) is discussed from a general viewpoint open to experimental test. An…
The Intelligent Driver Model is studied and several drawbacks with respect to driving simulators are defined. We present two modifications of the IDM. The first one gives any predefined distance to the leading vehicle in a steady state. The…
A longstanding challenge for self-driving development is simulating dynamic driving scenarios seeded from recorded driving logs. In pursuit of this functionality, we apply tools from discrete sequence modeling to model how vehicles,…
Force-based models describe pedestrian dynamics in analogy to classical mechanics by a system of second order ordinary differential equations. By investigating the linear stability of two main classes of forces, parameter regions with…
Trajectory planning in dense, interactive traffic scenarios presents significant challenges for autonomous vehicles, primarily due to the uncertainty of human driver behavior and the non-convex nature of collision avoidance constraints.…
Recent efforts in the development of autonomous driving technology have induced great advancements in perception, planning and control systems. Model predictive control is one of the most popular advanced control methods, but its…
This article addresses the problem of data-driven numerical optimal control for unknown nonlinear systems. In our scenario, we suppose to have the possibility of performing multiple experiments (or simulations) on the system. Experiments…
By analyzing data from a car-following experiment, it is shown that drivers control their car by a simple scheme. The acceleration $a(t)$ is held approximately constant for a certain time interval, followed by a jump to a new acceleration.…
In this paper, numerical estimation of frictional torques is carried out of a rotary elastic disc on a hard and rough surface under different rotating conditions. A one dimensional spring- mass rotary system is numerically solved under the…
Traffic on a circular road is described by dynamic programming equations associated to optimal control problems. By solving the equations analytically, we derive the relation between the average car density and the average car flow, known…