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We address the problem of optimizing the performance of a dynamic system while satisfying hard safety constraints at all times. Implementing an optimal control solution is limited by the computational cost required to derive it in real…
In this paper we craft a cascaded fuzzy controlling system for the traditional Truck-and-Trailer Backer-Upper problem, which is a benchmarking for testing various intelligent controlling systems. Inspired by the most inclination of human…
Autonomous driving has become real; semi-autonomous driving vehicles in an affordable price range are already on the streets, and major automotive vendors are actively developing full self-driving systems to deploy them in this decade.…
In this article, we propose an optimization-based integrated behavior planning and motion control scheme, which is an interpretable and adaptable urban autonomous driving solution that complies with complex traffic rules while ensuring…
In this paper, we present the development and deployment of an embedded optimal control strategy for autonomous driving applications on a Ford Focus road vehicle. Non-linear model predictive control (NMPC) is designed and deployed on a…
Connected vehicle fleets are deployed worldwide in several industrial IoT scenarios. With the gradual increase of machines being controlled and managed through networked smart devices, the predictive maintenance potential grows rapidly.…
In recent years, fully differentiable end-to-end autonomous driving systems have become a research hotspot in the field of intelligent transportation. Among various research directions, automatic parking is particularly critical as it aims…
The effective and safe management of traffic is a key issue due to the rapid advancement of the urban transportation system. Connected autonomous vehicles (CAVs) possess the capability to connect with each other and adjacent infrastructure,…
A hybrid (i.e., physics-guided data-driven) feedforward tracking controller is proposed for systems with unmodeled linear or nonlinear dynamics. The controller is based on the filtered basis function (FBF) approach, hence it is called a…
The quality of control (QoC) of a resource-constrained embedded control system may be jeopardized in dynamic environments with variable workload. This gives rise to the increasing demand of co-design of control and scheduling. To deal with…
In the last decades, the applications of power inverter increased rapidly. As a result, in spite of rectifier, an inverter with a high-power electronic oscillator has capability to convert direct current (DC) into alternating current (AC)…
Traffic Congestion is one of the severe problems in heavily populated countries like Bangladesh where Automated Traffic Control System needs to be implemented. An FPGA-based Semi-automated system is introduced in this paper including a…
This paper introduces a hierarchical framework that integrates graph search algorithms and model predictive control to facilitate efficient parking maneuvers for Autonomous Vehicles (AVs) in constrained environments. In the high-level…
We study the problem of target stabilization with robust obstacle avoidance in robots and vehicles that have access only to vision-based sensors for the purpose of realtime localization. This problem is particularly challenging due to the…
Detection of anomalous behaviors in data centers is crucial to predictive maintenance and data safety. With data centers, we mean any computer network that allows users to transmit and exchange data and information. In particular, we focus…
Load balancing is the process of improving the Performance of a parallel and distributed system through is distribution of load among the processors [1-2]. Most of the previous work in load balancing and distributed decision making in…
Platooning can serve as an effective management measure for connected and autonomous vehicles (CAVs) to ensure overall traffic efficiency. Current study focus on the longitudinal control of CAV platoons, however it still remains a…
In this work, a novel method for planar task and motion planning based on hybrid modeling is proposed. By virtue of a discrete variable which models local constraint satisfaction and enables local feasibility analysis, the proposed control…
Multi-robot flocking possesses extraordinary advantages over a single-robot system in diverse domains, but it is challenging to ensure safe and optimal performance in congested environments. Hence, this paper is focused on the investigation…
This paper introduces a framework for an indoor autonomous mobility system that can perform patient transfers and materials handling. Unlike traditional systems that rely on onboard perception sensors, the proposed approach leverages a…