Related papers: Driving upside-down in a circular track
Safety-critical corner cases, difficult to collect in the real world, are crucial for evaluating end-to-end autonomous driving. Adversarial interaction is an effective method to generate such safety-critical corner cases. While existing…
In recent years, significant advancements have been made in the field of autonomous driving with the aim of increasing safety and efficiency. However, research that focuses on tractor-trailer vehicles is relatively sparse. Due to the…
The motion control of wheeled mobile robots at high speeds under adverse ground conditions is a difficult task, since the robots' wheels may be subject to different kinds of slip. This work introduces an adaptive kinematic controller that…
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…
In this study, we analyze the stability of a path-tracking controller designed for a four-wheel steering vehicle, incorporating the effects of the reference path curvature. By employing a simplified kinematic model of the vehicle with…
Adiabatic (or reversible) processes are the key concept unifying our understanding of thermodynamics and dynamical systems. Reversibility in the thermodynamic sense is understood as entropy-preserving processes, such as in the idealized…
This paper describes Ariel Team's autonomous racing controller for the Indy Autonomous Challenge (IAC) simulation race. IAC is the first multi-vehicle autonomous head-to-head competition, reaching speeds of 300 km/h along an oval track,…
Construction equipment is designed to maintain good traction, even when operating in difficult off-road conditions. To curb wheel slip, the vehicles are equipped with differential locks. A driver may engage/disengage the locks to switch…
We present a new stability proof for cascaded geometric control used by aerial vehicles tracking time-varying position trajectories. Our approach uses sliding variables and a recently proposed quaternion-based sliding controller to…
Tracked vehicles distribute their weight continuously over a large surface area (the tracks). This distinctive feature makes them the preferred choice for vehicles required to traverse soft and uneven terrain. From a robotics perspective,…
We introduce a new approach to build microscopic engines on the atomic scale that move translationally or rotationally and can perform useful functions such as pulling of a cargo. Characteristic of these engines is the possibility to…
We discuss the equation of motion of the driven pendulum and generalize it to arbitrary driving angle. The pendulum will oscillate about a stable angle other than straight down if the drive amplitude and frequency are large enough for a…
The Rattleback is a very popular science toy shown to students all over the world to demonstrate the non-triviality of rotational motion. When spun on a horizontal table, this boat-shaped object behaves in a peculiar way. Although the…
Previous studies have shown that rate-induced transitions can occur in pullback attractors of systems subject to "parameter shifts" between two asymptotically steady values of a system parameter. For cases where the attractors limit to…
Drifting, characterized by controlled vehicle motion at high sideslip angles, is crucial for safely handling emergency scenarios at the friction limits. While recent reinforcement learning approaches show promise for drifting control, they…
With the introduction of the laterally bounded forces, the tilt-rotor gains more flexibility in the controller design. Typical feedback linearization methods utilize all the inputs in controlling this vehicle; the magnitudes as well as the…
For decades, car following and traffic flow models have assumed that drivers default driving strategy is to maintain a safe distance. Several previous studies have questioned whether the Driving to Keep Distance is a traffic invariant.…
This paper employs correct-by-construction control synthesis, in particular controlled invariant set computations, for falsification. Our hypothesis is that if it is possible to compute a "large enough" controlled invariant set either for…
This note briefly introduces the computed torque control method for trajectory tracking. The method is applicable to fully actuated robots, i.e, those whose inverse dynamics can be solved for any feasible acceleration. This includes many…
Fully autonomous vehicles promise enhanced safety and efficiency. However, ensuring reliable operation in challenging corner cases requires control algorithms capable of performing at the vehicle limits. We address this requirement by…