Related papers: A dynamical model of remote-control model cars
In this paper we consider a kinetic description of follow-the-leader traffic models, which we use to study the effect of vehicle-wise driver-assist control strategies at various scales, from that of the local traffic up to that of the…
Most of the existing state-of-the-art approaches for energy consumption analysis do not account for the effect of lateral dynamics on energy consumption in electric vehicles (EVs) during vehicle maneuvers. This paper aims to validate this…
Autonomous driving has attracted lots of attention in recent years. An accurate vehicle dynamics is important for autonomous driving techniques, e.g. trajectory prediction, motion planning, and control of trajectory tracking. Although…
An accurate vehicle dynamic model is the key to bridge the gap between simulation and real road test in autonomous driving. In this paper, we present a Dynamic model-Residual correction model Framework (DRF) for vehicle dynamic modeling. On…
We propose a simple rubber friction law, which can be used, e.g., in models of tire (and vehicle) dynamics. The friction law is tested by comparing numerical results to the full rubber friction theory (B.N.J. Persson, J. Phys.: Condensed…
Computed-torque control requires a very precise dynamical model of the robot for compensating the manipulator dynamics. This allows reduction of the controller's feedback gains resulting in disturbance attenuation and other advantages.…
Car following (CF) models are fundamental to describing traffic dynamics. However, the CF behavior of human drivers is highly stochastic and nonlinear. As a result, identifying the best CF model has been challenging and controversial…
Understanding the dynamics of two inertial bodies coupled via a friction interface is essential for a wide range of systems and motion control applications. Coupling terms within the dynamics of an inertial pair connected via a passive…
With the development of autonomous driving technology, there are increasing demands for vehicle control, and MPC has become a widely researched topic in both industry and academia. Existing MPC control methods based on vehicle kinematics or…
Many-particle simulations of vehicle interactions have been quite successful in the qualitative reproduction of observed traffic patterns. However, the assumed interactions could not be measured, as human interactions are hard to quantify…
We introduce a novel musculoskeletal model of a dog, procedurally generated from accurate 3D muscle meshes. Accompanying this model is a motion capture-based locomotion task compatible with a variety of control algorithms, as well as an…
We examine the dynamics of the Kuramoto model with a new analytical approach. By defining an appropriate set of moments the dynamical equations can be exactly closed. We discuss some applications of the formalism like the existence of an…
A hyper-redundant robotic arm is a manipulator with many degrees of freedom, capable of executing tasks in cluttered environments where robotic arms with fewer degrees of freedom are unable to operate. This paper introduces a new method for…
Linear models for control and motion generation of humanoid robots have received significant attention in the past years, not only due to their well known theoretical guarantees, but also because of practical computational advantages.…
Adaptive control is often used for friction compensation in trajectory tracking tasks because it does not require torque sensors. However, it has some drawbacks: first, the most common certainty-equivalence adaptive control design is based…
The risen complexity of automotive systems requires new development strategies and methods to master the upcoming challenges. Traditional methods need thus to be changed by an increased level of automation, and a faster continuous…
We deal with the problem of deriving the microscopic equations governing the individual car motion based on the assumptions about the strategy of driver behavior. We suppose the driver behavior to be a result of a certain compromise between…
It is doubtful that animals have perfect inverse models of their limbs (e.g., what muscle contraction must be applied to every joint to reach a particular location in space). However, in robot control, moving an arm's end-effector to a…
In this work, we utilized the methodology outlined in the IEEE Standard 2846-2022 for "Assumptions in Safety-Related Models for Automated Driving Systems" to extract information on the behavior of other road users in driving scenarios. This…
The exploration of teleparallel gravity has been done from a dynamical systems point of view in order to be tested against the cosmological evolution currently observed. So far, the proposed autonomous systems have been restrictive over a…