Related papers: N 2 C : Neural Network Controller Design Using Beh…

As learning-based methods make their way from perception systems to planning/control stacks, robot control systems have started to enjoy the benefits that data-driven methods provide. Because control systems directly affect the motion of…

This paper presents a real-time lane change control framework of autonomous driving in dense traffic, which exploits cooperative behaviors of other drivers. This paper focuses on heavy traffic where vehicles cannot change lanes without…

Cooperative intelligent freeway traffic control is an important application in intelligent transportation systems, which is expected to improve the mobility of freeway networks. In this paper, we propose a deep neuroevolution model, called…

This study introduces a novel control framework for adaptive cruise control (ACC) in automated driving, leveraging Long Short-Term Memory (LSTM) networks and physics-informed constraints. As automated vehicles (AVs) adopt advanced features…

Model predictive control (MPC) is a powerful, optimization-based approach for controlling dynamical systems. However, the computational complexity of online optimization can be problematic on embedded devices. Especially, when we need to…

For safe and efficient planning and control in autonomous driving, we need a driving policy which can achieve desirable driving quality in long-term horizon with guaranteed safety and feasibility. Optimization-based approaches, such as…

We propose a novel neural network architecture for detecting intrusions on the CAN bus. The Controller Area Network (CAN) is the standard communication method between the Electronic Control Units (ECUs) of automobiles. However, CAN lacks…

With the growing phase of artificial intelligence and autonomous learning, the self-driving car is one of the promising area of research and emerging as a center of focus for automobile industries. Behavioral cloning is the process of…

Self-driving cars operate in constantly changing environments and are exposed to a variety of uncertainties and disturbances. These factors render classical controllers ineffective, especially for lateral control. Therefore, an adaptive MPC…

Predicting driver intentions is a difficult and crucial task for advanced driver assistance systems. Traditional confidence measures on predictions often ignore the way predicted trajectories affect downstream decisions for safe driving. In…

In the behavioral cloning approach to end-to-end driving, a dataset of expert driving is collected and the model learns to guess what the expert would do in different situations. Situations are summarized in observations and the outputs are…

In this paper, we present a novel information processing architecture for safe deep learning-based visual navigation of autonomous systems. The proposed information processing architecture is used to support a perceptual attention-based…

In safety-critical systems that interface with the real world, the role of uncertainty in decision-making is pivotal, particularly in the context of machine learning models. For the secure functioning of Cyber-Physical Systems (CPS), it is…

Autonomous driving depends on perception systems to understand the environment and to inform downstream decision-making. While advanced perception systems utilizing black-box Deep Neural Networks (DNNs) demonstrate human-like comprehension,…

This letter proposes a convolutional neural network (CNN)-based adaptive controller wtih three notable features: 1) it determines control input directly from historical sensor data (in an end-to-end process); 2) it learns the desired…

End-to-end vision-based imitation learning has demonstrated promising results in autonomous driving by learning control commands directly from expert demonstrations. However, traditional approaches rely on either regressionbased models,…

As mobile robots increasingly operate in environments shared with humans, proactively anticipating human motion rather than responding reactively is critical for preempting collisions during close-proximity navigation, while maintaining…

Sampling-based motion planning is an effective tool to compute safe trajectories for automated vehicles in complex environments. However, a fast convergence to the optimal solution can only be ensured with the use of problem-specific…

This paper presents a novel approach to Autonomous Vehicle (AV) control through the application of active inference, a theory derived from neuroscience that conceptualizes the brain as a predictive machine. Traditional autonomous driving…

Human-Lead Cooperative Adaptive Cruise Control (HL-CACC) is regarded as a promising vehicle platooning technology in real-world implementation. By utilizing a Human-driven Vehicle (HV) as the platoon leader, HL-CACC reduces the cost and…