Related papers: A predictive path-following controller for multi-s…
This paper presents a framework for real-time optimal controlling of a heavy-duty skid-steered mobile platform for trajectory tracking. The importance of accurate real-time performance of the controller lies in safety considerations of…
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…
The problem of self-tuning control of cooperative manipulators forming a closed kinematic chain in the presence of an inaccurate kinematics model is addressed using adaptive machine learning. The kinematic parameters pertaining to the…
This paper proposes a novel control scheme, named self-reflective model predictive control, which takes its own limitations in the presence of process noise and measurement errors into account. In contrast to existing output-feedback MPC…
In this paper, we propose a framework for the longitudinal control of connected and automated vehicles traveling in mixed traffic consisting of connected and non-connected human-driven vehicles. Reactive and predictive controllers are…
This paper addresses the problem of steering a robotic vehicle along a geometric path specified with respect to a reference frame moving in three dimensions, termed the Moving Path Following (MPF) motion control problem. The MPF motion…
Legged robots can traverse challenging terrain, use perception to plan their safe foothold positions, and navigate the environment. Such unique mobility capabilities make these platforms a perfect candidate for scenarios such as search and…
This paper presents a trajectory-tracking controller for multi-rotor unmanned aerial vehicles (UAVs) in scenarios where only the desired position and heading are known without the higher-order derivatives. The proposed solution modifies the…
In the path planning problem of autonomous application, the existing studies separately consider the path planning and trajectory tracking control of the autonomous vehicle and few of them have integrated the trajectory planning and…
Multi-robot formation control has various applications in domains such as vehicle troops, platoons, payload transportation, and surveillance. Maintaining formation in a vehicle platoon requires designing a suitable control scheme that can…
Predictive safety filters enable the integration of potentially unsafe learning-based control approaches and humans into safety-critical systems. In addition to simple constraint satisfaction, many control problems involve additional…
This paper proposes a non-linear Model Predictive Contouring Control (MPCC) for obstacle avoidance in automated vehicles driven at the limit of handling. The proposed controller integrates motion planning, path tracking and vehicle…
In this paper, we investigate the problem of coordinated path following for fixed-wing UAVs with speed constraints in 2D plane. The objective is to steer a fleet of UAVs along the path(s) while achieving the desired sequenced inter-UAV arc…
This paper contrasts recursive state space models and direct multi-step predictors for linear predictive control. We provide a tutorial exposition for both model structures to solve the following problems: 1. stochastic optimal control; 2.…
This paper presents an original approach to vehicle obstacle avoidance. It involves the development of a nonlinear Model Predictive Contouring Control, which uses torque vectoring to stabilise and drive the vehicle in evasive manoeuvres at…
This paper proposes an Adaptive Robust Model Predictive Control strategy for lateral control in lane keeping problems, where we continuously learn an unknown, but constant steering angle offset present in the steering system. Longitudinal…
A great advantage of legged robots is their ability to operate on particularly difficult and obstructed terrain, which demands dynamic, robust, and precise movements. The study of obstacle courses provides invaluable insights into the…
Single-lane car-following is a fundamental task in autonomous driving. A desirable car-following controller should keep a reasonable range of distances to the preceding vehicle and do so as smoothly as possible. To achieve this, numerous…
A typical trajectory planner of autonomous driving commonly relies on predicting the future behavior of surrounding obstacles. Recently, deep learning technology has been widely adopted to design prediction models due to their impressive…
Off-road driving operations can be a challenging environment for human conductors as they are subject to accidents, repetitive and tedious tasks, strong vibrations, which may affect their health in the long term. Therefore, they can benefit…