Related papers: Driving upside-down in a circular track
The rising popularity of self-driving cars has led to the emergence of a new research field in the recent years: Autonomous racing. Researchers are developing software and hardware for high performance race vehicles which aim to operate…
This paper studies the design of a Model Predictive Controller (MPC) for integrated lateral stability, traction/braking control, and rollover prevention of electric vehicles intended for very high speed (VHS) racing applications. We first…
This paper investigates the lateral control problem in vehicular path-following when the feedback sensor(s) are mounted at an arbitrary location in the longitudinal symmetric axis. We point out that some existing literature has abused the…
Motivated by the study of reversal behaviour of myxobacteria, in this article we are interested in a kinetic model for reversal dynamics, in which particles with directions close to be opposite undergo binary collision resulting in…
Parking functions, classically defined in terms of cars with preferred parking spots on a directed path attempting to park there, arise in many combinatorial situations and have seen various generalizations. In particular, parking functions…
We provide a necessary and sufficient condition for a rough control driving a differential equation to be reconstructable, to some order, from observing the resulting controlled evolution. Physical examples and applications in stochastic…
This study has developed a fault-tolerant controller that is able to recover a quadrotor from arbitrary initial orientations and angular velocities, despite the complete failure of a rotor. This cascaded control method includes a…
This article is devoted to the stabilization of two underactuated planar systems, the well-known straight beam-and-ball system and an original circular beam-and-ball system. The feedback control for each system is designed, using the Jordan…
A novel learning Model Predictive Control technique is applied to the autonomous racing problem. The goal of the controller is to minimize the time to complete a lap. The proposed control strategy uses the data from previous laps to improve…
Enigmatic transitions between spin-up and spin-down have been observed in several X-ray pulsars accreting matter via an accretion disk. In these transitions, the torque changes sign but remains at nearly the same magnitude. It has been…
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…
Reinforcement learning is considered to be a strong AI paradigm which can be used to teach machines through interaction with the environment and learning from their mistakes, but it has not yet been successfully used for automotive…
Star-shaped Tilted Hexarotors are rapidly emerging for applications highly demanding in terms of robustness and maneuverability. To ensure improvement in such features, a careful selection of the tilt angles is mandatory. In this work, we…
The skill to drift a car--i.e., operate in a state of controlled oversteer like professional drivers--could give future autonomous cars maximum flexibility when they need to retain control in adverse conditions or avoid collisions. We…
The induction motor controlled by Indirect Field Oriented Control (IFOC) is known to have high performance and better stability. This paper reports the dynamical behavior of an indirect field oriented control (IFOC) induction motor drive in…
This paper presents a robust path following control method for vehicles that explicitly considers steering resistance dynamics to improve tracking accuracy. Conventional methods typically treat the steering angle as a direct control input;…
Control of a hybrid dynamical system can manifest in one of two main ways: either through the continuous or the discrete dynamics. An example of controls influencing the continuous dynamics is legged locomotion, where the joints are…
The dynamics of a rotating elastic filament is investigated using Stokesian simulations. The filament, straight and tilted with respect to its rotation axis for small driving torques, undergoes at a critical torque a strongly discontinuous…
Inertia drift is a transitional maneuver between two sustained drift stages in opposite directions, which provides valuable insights for navigating consecutive sharp corners for autonomous racing.However, this can be a challenging scenario…
This work considers reversed evolution in dynamical systems. In particular, asymptotic behavior of chaotic systems, when their orbits evolve backwards in time. Reversed dynamics reveals important aspects of the trajectories, such as a new…