Related papers: Estimating adaptive cruise control model parameter…
The airborne traffic monitoring system forms a novel technology of detecting vehicle motion. An optical digital camera located on an airborne platform produces a series of images which then are processed to recognized the fixed vehicles. In…
In this work, we present a novel approach to bias the driving style of an artificial race driver (ARD) for online time-optimal trajectory planning. Our method leverages a nonlinear model predictive control (MPC) framework that combines time…
Accurate and robust tracking of surrounding road participants plays an important role in autonomous driving. However, there is usually no prior knowledge of the number of tracking targets due to object emergence, object disappearance and…
Model Predictive Control (MPC) is a method to control nonlinear systems with guaranteed stability and constraint satisfaction but suffers from high computation times. Approximate MPC (AMPC) with neural networks (NNs) has emerged to address…
Autonomous surface vehicles (ASVs) are influenced by environmental disturbances such as wind and waves, making accurate trajectory tracking a persistent challenge in dynamic marine conditions. In this paper, we propose an efficient…
In the framework of solid mechanics, the task of deriving material parameters from experimental data has recently re-emerged with the progress in full-field measurement capabilities and the renewed advances of machine learning. In this…
Autonomous vehicle control is generally divided in two main areas; trajectory planning and tracking. Currently, the trajectory planning is mostly done by particle or kinematic model-based optimization controllers. The output of these…
Autonomous systems operating in unknown environments often rely heavily on visual sensor data, yet making safe and informed control decisions based on these measurements remains a significant challenge. To facilitate the integration of…
Testing and evaluation is a critical step in the development and deployment of connected and automated vehicles (CAVs). Due to the black-box property and various types of CAVs, how to test and evaluate CAVs adaptively remains a major…
Autonomous vehicles are becoming popular day by day not only for autonomous road traversal but also for industrial automation, farming and military. Most of the standard vehicles follow the Ackermann style steering mechanism. This has…
Computer experiments with quantitative and qualitative inputs are widely used to study many scientific and engineering processes. Much of the existing work has focused on design and modeling or process optimization for such experiments.…
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…
The basic module for the solution of the minimum time optimal control of a car-like vehicle is herein presented. The vehicle is subject to the effect of laminar (linear) and aerodynamic (quadratic) drag, taking into account the asymmetric…
Wirelessly connected vehicles that exchange information about traffic conditions can reduce delays caused by congestion. At a 2-to-1 lane reduction, the improvement in flow past a bottleneck due to traffic with a random mixture of 40%…
We are experiencing an explosion in the amount of sensors measuring our activities and the world around us. These sensors are spread throughout the built environment and can help us perform state estimation and control of related systems,…
The goal of this paper is to explore the accuracy of dashcam footage to predict the actual kinematic motion of a car-like vehicle. Our approach uses ground truth information from the vehicle's on-board data stream, through the controller…
This paper proposes a novel method for formation path following of multiple underactuated autonomous underwater vehicles. The method combines line-of-sight guidance with null-space-based behavioral control, allowing the vehicles to follow…
In this paper, a steering action-aware Adaptive Cruise Control (ACC) approach for teleoperated road vehicles is proposed. In order to keep the vehicle in a safe state, the ACC approach can override the human operator's velocity control…
Precise localization is a core ability of an autonomous vehicle. It is a prerequisite for motion planning and execution. The well-established localization approaches such as Kalman and particle filters require a probabilistic observation…
This paper documents the winning entry at the CVPR2017 vehicle velocity estimation challenge. Velocity estimation is an emerging task in autonomous driving which has not yet been thoroughly explored. The goal is to estimate the relative…