Related papers: A path planning and path-following control framewo…

In this paper, we have studied the control problem of target-point based path following for car-type vehicles. This special path following task arises from the needs of vision based guidance systems, where a given target-point located ahead…

We study the navigation problem for a robot moving amidst static and dynamic obstacles and rely on a hierarchical approach to solve it. First, the reference trajectory is planned by the safe interval path planning algorithm that is capable…

We present a unified framework for path-parametric planning and control. This formulation is universal as it standardizes the entire spectrum of path-parametric techniques -- from traditional path following to more recent contouring or…

The motion planning problem of generating dynamically feasible, collision-free trajectories in non-convex environments is a fundamental challenge for autonomous systems. Decomposing the problem into path planning and path tracking improves…

In the real-world, self-driving vehicles are required to achieve steering maneuvers in both uncontrolled and uncertain environments while maintaining high levels of safety and passengers' comfort. Ignoring these requirements would…

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…

This paper proposes a new robust trajectory tracking error-based control approach for unmanned ground vehicles. A trajectory tracking error-based model is used to design a linear model predictive controller and its control action is…

This paper introduces a novel trajectory planner for autonomous robots, specifically designed to enhance navigation by incorporating dynamic obstacle avoidance within the Robot Operating System 2 (ROS2) and Navigation 2 (Nav2) framework.…

This article addresses the obstacle avoidance problem for setpoint stabilization and path-following tasks in complex dynamic 2D environments that go beyond conventional scenes with isolated convex obstacles. A combined motion planner and…

Terrestrial and aerial bimodal vehicles have gained widespread attention due to their cross-domain maneuverability. Nevertheless, their bimodal dynamics significantly increase the complexity of motion planning and control, thus hindering…

This paper introduces a method to compute a sparse lattice planner control set that is suited to a particular task by learning from a representative dataset of vehicle paths. To do this, we use a scoring measure similar to the Fr\'echet…

Abstract: we present a framework for robust autonomous driving motion planning system in urban environments which includes trajectory refinement, trajectory interpolation, avoidance of static and dynamic obstacles, and trajectory tracking.…

The work studies a number of approaches to solving motion planning problem for a mobile robot with a trailer. Different control models of car-like robots are considered from the differential-geometric point of view. The same models can be…

Autonomous and safe navigation of tractor-trailer systems requires accurate, real-time collision avoidance and dynamically feasible control, particularly in cluttered and complex agricultural environments. This is challenging due to their…

Path tracking system plays a key technology in autonomous driving. The system should be driven accurately along the lane and be careful not to cause any inconvenience to passengers. To address such tasks, this paper proposes hybrid tracker…

This paper proposes a fast and accurate trajectory planning algorithm for autonomous parking. Nominally, an optimal control problem should be formulated to describe this scheme, but the dimensionality of the optimal control problem is…

Overtaking is one of the most challenging tasks in driving, and the current solutions to autonomous overtaking are limited to simple and static scenarios. In this paper, we present a method for behaviour and trajectory planning for safe…

This paper addresses the trajectory tracking problem of an autonomous tractor-trailer system by using a decentralized control approach. A fully decentralized model predictive controller is designed in which interactions between subsystems…

We present a holistically designed three layer control architecture capable of outperforming a professional driver racing the same car. Our approach focuses on the co-design of the motion planning and control layers, extracting the full…

In this paper, the problem of tracking desired longitudinal and lateral motions for a vehicle is addressed. Let us point out that a "good" modeling is often quite difficult or even impossible to obtain. It is due for example to parametric…