Related papers: Three Dimensional Moving Path Following Control fo…
In the real-world, self-driving vehicles are required to achieve steering maneuvers in both uncontrolled and uncertain environments while maintaining high levels of safety and passengers' comfort. Ignoring these requirements would…
We present a model predictive control (MPC) framework for efficient navigation of mobile robots in cluttered environments. The proposed approach integrates a finite-segment shortest path planner into the finite-horizon trajectory…
The paper considers a motion control problem for kinematic models of nonholonomic wheeled systems. The class of maneuverable wheeled systems is defined consisting of systems that can follow any sufficiently smooth non-stop trajectory on the…
Almost-global orientation trajectory tracking for a rigid body with external actuation has been well studied in the literature, and in the geometric setting as well. The tracking control law relies on the fact that a rigid body is a simple…
Evaluating and updating the obstacle avoidance velocity for an autonomous robot in real-time ensures robustness against noise and disturbances. A passive damping controller can obtain the desired motion with a torque-controlled robot, which…
In this paper, we propose a novel safe, passive, and robust control law for mechanical systems. The proposed approach addresses safety from a physical human-robot interaction perspective, where a robot must not only stay inside a…
Fast feedback control and safety guarantees are essential in modern robotics. We present an approach that achieves both by combining novel robust model predictive control (MPC) with function approximation via (deep) neural networks (NNs).…
This paper studies the tracking control problem for nonholonomic mobile robots based on second order dynamics, with application to consensus tracking and formation tracking. The greatest novelty in this paper is that the reference…
This paper proposes a novel methodology for trajectory planning in autonomous vehicles (AVs), addressing the complex challenge of negotiating speed bumps within a unified Mixed-Integer Quadratic Programming (MIQP) framework. By leveraging…
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…
Safe trajectory planning for high-performance automated vehicles in an environment with both static and moving obstacles is a challenging problem. Part of the challenge is developing a formulation that can be solved in real-time while…
Multi-robot motion planning (MRMP) is the problem of finding collision-free paths for a set of robots in a continuous state space. The difficulty of MRMP increases with the number of robots and is exacerbated in environments with narrow…
This paper investigates the safe platoon formation tracking and merging control problem of connected and automated vehicles (CAVs) on curved multi-lane roads. The first novelty is the separation of the control designs into two distinct…
Time-optimal motion planning of autonomous vehicles in complex environments is a highly researched topic. This paper describes a novel approach to optimize and execute locally feasible trajectories for the maneuvering of a truck-trailer…
To achieve safe legged locomotion, it is important to generate motion in real-time considering various constraints in robots and environments. In this study, we propose a lightweight real-time perspective motion control system for the newly…
This paper provides new results for a robust adaptive tracking control of the attitude dynamics of a rigid body. Both of the attitude dynamics and the proposed control system are globally expressed on the special orthogonal group, to avoid…
In this work, we consider the problem of decentralized multi-robot target tracking and obstacle avoidance in dynamic environments. Each robot executes a local motion planning algorithm which is based on model predictive control (MPC). The…
This paper proposes an adaptive modular geometric control framework for robotic manipulators. The proposed methodology decomposes the overall manipulator dynamics into individual modules, enabling the design of local geometric control laws…
Given a geometric path, the Time-Optimal Path Tracking problem consists in finding the control strategy to traverse the path time-optimally while regulating tracking errors. A simple yet effective approach to this problem is to decompose…
Autonomous drone racing requires powerful perception, planning, and control and has become a benchmark and test field for autonomous, agile flight. Existing work usually assumes static race tracks with known maps, which enables offline…