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During the conceptual and prototype design stage of an industrial product, it is crucial to take assembly/disassembly and maintenance operations in advance. A well-designed system should enable relatively easy access of operating…
External feedback in the form of visual, auditory and tactile cues has been used to assist patients to overcome mobility challenges. However, these cues can become less effective over time. There is limited research on adapting cues to…
In this paper we investigate the problem of using a UAV to provide current map information of the environment in front of a moving ground vehicle. We propose a simple coverage plan called a conformal lawn mower plan that enables a UAV to…
This work presents the first closed-loop control framework for cooperative payload transportation with non-stopping flying carriers. The proposed method includes a feedback wrench-controller that actively regulates the load's pose by…
Biological motor control provides highly effective solutions to difficult control problems in spite of the complexity of the plant and the significant delays in sensory feedback . Such delays are expected to lead to non trivial stability…
In this study, we applied reinforcement learning based on the proximal policy optimization algorithm to perform motion planning for an unmanned aerial vehicle (UAV) in an open space with static obstacles. The application of reinforcement…
Planning the trajectory of the controlled ego vehicle is a key challenge in automated driving. As for human drivers, predicting the motions of surrounding vehicles is important to plan the own actions. Recent motion prediction methods…
In recent years, the integration of prediction and planning through neural networks has received substantial attention. Despite extensive studies on it, there is a noticeable gap in understanding the operation of such models within a…
Data availability has dramatically increased in recent years, driving model-based control methods to exploit learning techniques for improving the system description, and thus control performance. Two key factors that hinder the practical…
Autonomous vehicle platoons present near- and long-term opportunities to enhance operational efficiencies and save lives. The past 30 years have seen rapid development in the autonomous driving space, enabling new technologies that will…
This paper investigates options to complement a diesel engine airpath feedback controller with a feedforward. The control objective is to track the intake manifold pressure and exhaust gas recirculation (EGR) rate targets by manipulating…
This paper presents a game-theoretic path-following formulation where the opponent is an adversary road model. This formulation allows us to compute safe sets using tools from viability theory, that can be used as terminal constraints in an…
This paper presents a multi-layer motion planning and control architecture for autonomous racing, capable of avoiding static obstacles, performing active overtakes, and reaching velocities above 75 $m/s$. The used offline global trajectory…
This paper presents a spatial-based trajectory planning method for automated vehicles under actuator, obstacle avoidance, and vehicle dimension constraints. Starting from a nonlinear kinematic bicycle model, vehicle dynamics are transformed…
Autonomous ground vehicle systems have found extensive potential and practical applications in the modern world. The development of an autonomous ground vehicle poses a significant challenge, particularly in identifying the best path plan,…
Modern automated driving solutions utilize trajectory planning and control components with numerous parameters that need to be tuned for different driving situations and vehicle types to achieve optimal performance. This paper proposes a…
This work presents a new sufficient condition for synthesizing nonlinear controllers that yield bounded closed-loop tracking error transients despite the presence of unmatched uncertainties that are concurrently being learned online. The…
This paper proposes a new control strategy to improve vehicle cornering performance in a model predictive control framework. The most distinguishing feature of the proposed method is that the natural handling characteristics of the…
Compute and memory constraints have historically prevented traffic simulation software users from fully utilizing the predictive models underlying them. When calibrating car-following models, particularly, accommodations have included 1)…
Planning for legged-wheeled machines is typically done using trajectory optimization because of many degrees of freedom, thus rendering legged-wheeled planners prone to falling prey to bad local minima. We present a combined sampling and…