Related papers: Design of Robust Path-Following Control System for…
In this paper, a new model for traffic on roads with multiple lanes is developed, where the vehicles do not adhere to a lane discipline. Assuming identical vehicles, the dynamics is split along two independent directions: the Y-axis…
Safe and compliant control of dynamic systems in interaction with the environment, e.g., in shared workspaces, continues to represent a major challenge. Mismatches in the dynamic model of the robots, numerical singularities, and the…
We propose a novel approach for sampling-based and control-based motion planning that combines a representation of the environment obtained via a modified version of optimal Rapidly-exploring Random Trees (RRT*), with landmark-based…
Autonomous driving is achieved by controlling the coupled nonlinear longitudinal and lateral vehicle dynamics. Longitudinal control greatly affects lateral dynamics and must preserve lateral stability conditions, while lateral controllers…
With the advancement of affordable self-driving vehicles using complicated nonlinear optimization but limited computation resources, computation time becomes a matter of concern. Other factors such as actuator dynamics and actuator command…
For motion planning and control of autonomous vehicles to be proactive and safe, pedestrians' and other road users' motions must be considered. In this paper, we present a vehicle motion planning and control framework, based on Model…
A reliable controller is critical and essential for the execution of safe and smooth maneuvers of an autonomous vehicle.The controller must be robust to external disturbances, such as road surface, weather, and wind conditions, and so on.It…
The emergence of autonomous vehicles is expected to revolutionize road transportation in the near future. Although large-scale numerical simulations and small-scale experiments have shown promising results, a comprehensive theoretical…
Motion prediction of surrounding vehicles is one of the most important tasks handled by a self-driving vehicle, and represents a critical step in the autonomous system necessary to ensure safety for all the involved traffic actors. Recently…
Maintaining both path-tracking accuracy and yaw stability of distributed drive electric vehicles (DDEVs) under various driving conditions presents a significant challenge in the field of vehicle control. To address this limitation, a…
A new framework is developed for control of constrained nonlinear systems with structured parametric uncertainties. Forward invariance of a safe set is achieved through online parameter adaptation and data-driven model estimation. The new…
This paper proposes a control architecture for autonomous lane keeping by a vehicle. In this paper, the vehicle dynamics consist of two parts: lateral and longitudinal dynamics. Therefore, the control architecture comprises two subsequent…
Automated vehicles require efficient and safe planning to maneuver in uncertain environments. Largely this uncertainty is caused by other traffic participants, e.g., surrounding vehicles. Future motion of surrounding vehicles is often…
Autonomous systems require identifying the environment and it has a long way to go before putting it safely into practice. In autonomous driving systems, the detection of obstacles and traffic lights are of importance as well as lane…
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…
Under extreme conditions, autonomous drifting enables vehicles to follow predefined paths at large slip angles, significantly enhancing the control system's capability to handle hazardous scenarios. Four-wheel-drive and four-wheel-steering…
A reliable controller is critical for execution of safe and smooth maneuvers of an autonomous vehicle. The controller must be robust to external disturbances, such as road surface, weather, wind conditions, and so on. It also needs to deal…
This article addresses the obstacle avoidance problem for setpoint stabilization and path-following tasks in complex dynamic 2D environments that go beyond conventional scenes with isolated convex obstacles. A combined motion planner and…
This note proposes a general control approach, called vector-field guided constraint-following control, to solve the dynamics control problem of geometric path-following for a class of uncertain mechanical systems. More specifically, it…
Autonomous vehicles (AVs) enable more efficient and sustainable transportation systems. Ample studies have shown that controlling a small fraction of AVs can smooth traffic flow and mitigate traffic congestion. However, deploying AVs in…