Related papers: Fuzzy Logic based Autonomous Parking Systems -- Pa…
A Building Automation System (BAS) has functions of monitoring and controlling the operation of all building sub-systems such as HVAC (Heating-Ventilation, Air-conditioning Control), electric consumption management, fire alarm control,…
An important question for the practical applicability of the highly efficient traffic intersection control is about the minimal level of intelligence the vehicles need to have so as to move beyond the traffic light control. We propose an…
Autonomous parking is a critical component for achieving safe and efficient urban autonomous driving. However, unstructured environments and dynamic interactions pose significant challenges to autonomous parking tasks. To address this…
Artificial intelligence algorithms have been extensively applied in the field of intelligent transportation, especially for driving behavior analysis and prediction. This study proposes a novel framework by integrating fuzzy trajectory…
We study a novel principle for safe and efficient collision avoidance that adopts a mathematically elegant and general framework abstracting as much as possible from the controlled vehicle's dynamics and of its environment. Vehicle dynamics…
Feedforward steering control is a key component of hierarchical control architectures for autonomous racing. The goal is to reduce steering corrections from the feedback controllers by predicting the vehicle's inverse lateral dynamics. This…
Self-driving cars and trucks, autonomous vehicles (AVs), should not be accepted by regulatory bodies and the public until they have much higher confidence in their safety and reliability -- which can most practically and convincingly be…
Coordination of connected and automated vehicles (CAVs) in a mixed traffic environment poses significant challenges due to the presence of human-driven vehicles (HDVs) with stochastic dynamics and driving behavior. In earlier work, we…
This paper introduces a multi-agent approach to adjust traffic lights based on traffic situation in order to reduce average delay time. In the traffic model, lights of each intersection are controlled by an autonomous agent. Since decision…
This study proposes optimized Type-I and Type-II fuzzy controllers for automotive suspension systems to enhance ride comfort and stability under road disturbances (step/sine inputs), addressing the lack of systematic performance comparisons…
We propose a human-centered safety filter (HCSF) for shared autonomy that significantly enhances system safety without compromising human agency. Our HCSF is built on a neural safety value function, which we first learn scalably through…
In parking lots with large groups of electric vehicles (EVs), charging has to happen in a coordinated manner, among others, due to the high load per vehicle and the limited capacity of the electricity grid. To achieve such coordination,…
This research proposes a robust adaptive fuzzy sliding mode control (AFSMC) approach to enhance the trajectory tracking performance of cylindrical robotic manipulators, extensively utilized in applications such as CNC and 3D printing. The…
The cooperative control of the connected and automated vehicle (CAV) is recognized as an effective approach to alleviate traffic congestion and improve traffic safety, especially for on-ramp bottlenecks. However, in the mixed traffic, the…
Modern vehicles are governed by a network of Electronic Control Units (ECUs), which are programmed to sense inputs from the driver and the environment, to process these inputs, and to control actuators that, e.g., regulate the engine or…
In this article, we present a centralized approach for the control of multiple unmanned aerial vehicles (UAVs) for landing on moving unmanned ground vehicles (UGVs) using control barrier functions (CBFs). The proposed control framework…
Nowadays, automobile manufacturers make efforts to develop ways to make cars fully safe. Monitoring driver's actions by computer vision techniques to detect driving mistakes in real-time and then planning for autonomous driving to avoid…
In this work, we combine {Model Predictive Control} (MPC) and Control Barrier Function (CBF) design {methods} to create a hierarchical control law for simultaneous lane-keeping (LK) and obstacle avoidance (OA): at the low level, MPC…
We present a novel method for designing higher-order Control Barrier Functions (CBFs) that guarantee convergence to a safe set within a user-specified finite. Traditional Higher Order CBFs (HOCBFs) ensure asymptotic safety but lack…
Automated driving is an active area of research in both industry and academia. Automated Parking, which is automated driving in a restricted scenario of parking with low speed manoeuvring, is a key enabling product for fully autonomous…