Related papers: Pace and motor control optimization for a runner
This paper introduces an optimization problem (P) and a solution strategy to design variable-speed-limit controls for a highway that is subject to traffic congestion and uncertain vehicle arrival and departure. By employing a finite…
Efficient motion planning algorithms are of central importance for deploying robots in the real world. Unfortunately, these algorithms often drastically reduce the dimensionality of the problem for the sake of feasibility, thereby foregoing…
Self-driving vehicles are a maturing technology with the potential to reshape mobility by enhancing the safety, accessibility, efficiency, and convenience of automotive transportation. Safety-critical tasks that must be executed by a…
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…
We present a modular framework to benchmark new and existing methods for trajectory planning and control in high-acceleration maneuvers that push autonomous driving to the limits. Our framework includes time-optimal raceline generation,…
Motion planning is a key aspect of robotics. A common approach to address motion planning problems is trajectory optimization. Trajectory optimization can represent the high-level behaviors of robots through mathematical formulations.…
Climate change compels a reduction of greenhouse gas emissions, yet vehicular traffic still contributes significantly to the emission of air pollutants. Hence, in this paper we focus on the optimization of traffic flow while simultaneously…
In this paper, problems of optimal control are considered where in the objective function, in addition to the control cost there is a tracking term that measures the distance to a desired stationary state. The tracking term is given by some…
With the evolution of self-driving cars, autonomous racing series like Roborace and the Indy Autonomous Challenge are rapidly attracting growing attention. Researchers participating in these competitions hope to subsequently transfer their…
The paper proposes first steps towards the formalization and characterization of time-varying turnpikes in optimal control of mechanical systems. We propose the concepts of velocity steady states, which can be considered as partial steady…
The problem of optimal motion planing and control is fundamental in robotics. However, this problem is intractable for continuous-time stochastic systems in general and the solution is difficult to approximate if non-instantaneous nonlinear…
In the realm of circuit motorsports, race strategy plays a pivotal role in determining race outcomes. This strategy focuses on the timing of pit stops, which are necessary due to fuel consumption and tire performance degradation. The…
We consider the ramp metering problem for a freeway stretch modeled by the Cell Transmission Model. Assuming perfect model knowledge and perfect traffic demand prediction, the ramp metering problem can be cast as a finite horizon optimal…
Motion Sickness (MS) is an issue of most transportation systems. Several countermeasures for such problem in cars are proposed in the literature, but most of them are qualitative, behavioural or involving complex chassis systems. With the…
Transitions between two lanes often have a significant impact on various forms of road traffic. To address this problem, we have developed a two-lane asymmetric simple exclusion process model and two hypothetical traffic control strategies,…
Autonomous racing is a research field gaining large popularity, as it pushes autonomous driving algorithms to their limits and serves as a catalyst for general autonomous driving. For scaled autonomous racing platforms, the computational…
Model Predictive Control (MPC) has established itself as the primary methodology for constrained control, enabling autonomy across diverse applications. While model fidelity is crucial in MPC, solving the corresponding optimization problem…
Increasing attention to autonomous passenger vehicles has also attracted interest in an autonomous racing series. Because of this, platforms such as Roborace and the Indy Autonomous Challenge are currently evolving. Electric racecars face…
Trajectory planning and control have historically been separated into two modules in automated driving stacks. Trajectory planning focuses on higher-level tasks like avoiding obstacles and staying on the road surface, whereas the controller…
An optimal control problem for the continuity equation is considered. The aim of a controller is to maximize the total mass within a target set at a given type moment. An iterative numerical algorithm for solving this problem is presented.