Related papers: Driving upside-down in a circular track
Simple experiments for which differential equations cannot be solved analytically can be addressed using an effective model that satisfactorily reproduces the experimental data. In this work, the one-dimensional kinematics of a…
This letter presents a novel and retractable ring-shaped quadrotor called Ring-Rotor that can adjust the vehicle's length and width simultaneously. Unlike other morphing quadrotors with high platform complexity and poor controllability,…
This study investigates the performance of cascade PID control architecture applied to an inverted pendulum on a cart system through both simulation and experimental implementation. A nonlinear model of the system was developed using…
This paper presents a learning-based approach for impromptu trajectory tracking for non-minimum phase systems, i.e., systems with unstable inverse dynamics. Inversion-based feedforward approaches are commonly used for improving tracking…
Professional race-car drivers can execute extreme overtaking maneuvers. However, existing algorithms for autonomous overtaking either rely on simplified assumptions about the vehicle dynamics or try to solve expensive…
In the paper, a mathematical model assembling a "driver - mobile vehicle - road environment" system and capable of simulating the process of mobile vehicles skid in traction movement mode is proposed. The usage of non-linear drift models…
Inverted landing is a challenging feat to perform in aerial robots, especially without external positioning. However, it is routinely performed by biological fliers such as bees, flies, and bats. Our previous observations of landing…
This paper introduces a car following model where the driving scheme takes into account the deficiencies of human decision making in a general way. Aditionally, it improves certain shortcomings of most of the models currently in use: it is…
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…
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…
Turbines are crucial to our energy infrastructure, and ensuring their bearings function with minimal friction while often supporting heavy loads is vital. Vibrations within a bearing can signal the presence of defects, friction, or…
We present a control strategy that applies inverse dynamics to a learned acceleration error model for accurate multirotor control input generation. This allows us to retain accurate trajectory and control input generation despite the…
Overturning tractors are the leading cause of fatalities on farms. Steering instability contributes significantly to the tractor overturning. This study investigated tractor overturning accidents caused by the steering instability using a…
We consider a binary system of particles with repulsive interactions that move in opposite or perpendicular directions to each other under an applied external drive. For opposite driving, at higher drives a phase-separated laned state forms…
Autonomous racing represents a uniquely challenging control environment where agents must act while on the limits of a vehicle's capability in order to set competitive lap times. This places the agent on a knife's edge, with a very small…
This paper presents a methodology to stabilize some kind of Nonlinear Control system known as Driftless, utilizing the concept of \textit{Pseudo-Kinetic Energy} introduced in this work. Once this controller is applied to the Unicycle-type…
The progress in autonomous driving is also due to the increased availability of vast amounts of training data for the underlying machine learning approaches. Machine learning systems are generally known to lack robustness, e.g., if the…
To stabilize a conventional quadrotor, simplified equivalent vehicles, e.g., autonomous car, are developed to test the designed controller. Based on that, various controllers based on feedback linearization have been developed. With the…
A cylinder will roll down an inclined plane in a straight line. A cone will roll around a circle on that plane and then will stop rolling. We ask the inverse question: For which curves drawn on the inclined plane $\mathbb{R}^2$ can one…
High-definition roads are an essential component of realistic driving scenario simulation for autonomous vehicle testing. Roundabouts are one of the key road segments that have not been thoroughly investigated. Based on the geometric…