Related papers: Safe and efficient collision avoidance control for…

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 paper develops an optimal acceleration/speed profile for a single autonomous vehicle crossing multiple signalized intersections without stopping in free flow mode. The design objective is to produce both time and energy efficient…

With the advancement of data-driven techniques, addressing continuous con-trol challenges has become more efficient. However, the reliance of these methods on historical data introduces the potential for unexpected decisions in novel…

Motion Planning under uncertainty is critical for safe self-driving. In this paper, we propose a unified obstacle avoidance framework that deals with 1) uncertainty in ego-vehicle motion; and 2) prediction uncertainty of dynamic obstacles…

Collision avoidance -- involving a rapid threat detection and quick execution of the appropriate evasive maneuver -- is a critical aspect of driving. However, existing models of human collision avoidance behavior are fragmented, focusing on…

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…

Connected and automated vehicles provide a new opportunity for highly advanced collision avoidance, in which several cars cooperate to reach an optimal overall outcome, that no single car acting in isolation could achieve. For example, one…

Autonomous systems operating in close proximity with each other to cover a specified area has many potential applications, but to achieve effective coordination, two key challenges need to be addressed: coordination and safety. For…

One of the most important aspects of autonomous systems is safety. This includes ensuring safe human-robot and safe robot-environment interaction when autonomously performing complex tasks or in collaborative scenarios. Although several…

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…

Current end-to-end autonomous driving methods either run a controller based on a planned trajectory or perform control prediction directly, which have spanned two separately studied lines of research. Seeing their potential mutual benefits…

Autonomous vehicles interacting with other traffic participants heavily rely on the perception and prediction of other agents' behaviors to plan safe trajectories. However, as occlusions limit the vehicle's perception ability, reasoning…

This paper presents a hierarchical longitudinal control architecture for autonomous truck platoons that jointly addresses safety, string stability, and economic efficiency. The framework integrates a high-rate safety projection filter, a…

Real-time control is an essential aspect of safe robot operation in the real world with dynamic objects. We present a framework for the analysis of object-aware controllers, methods for altering a robot's motion to anticipate and avoid…

A key component in autonomous driving is the ability of the self-driving car to understand, track and predict the dynamics of the surrounding environment. Although there is significant work in the area of object detection, tracking and…

This article addresses the problem of controlling the speed of a number of automated vehicles before they enter a speed reduction zone on a freeway. We formulate the control problem and provide an analytical, closed-form solution that can…

A general and psychologically plausible collision avoidance driver model can improve transportation safety significantly. Most computational driver models found in the literature have used control theory methods only, and they are not…

The development of control techniques to maintain vehicle stability under possible loss-of-control scenarios is essential to the safe deployment of autonomous ground vehicles in public scenarios. In this paper, we propose a tube-based…

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…

In this paper, we propose an integrated dynamical model of Connected and Automated Vehicles (CAVs) which incorporates CAV technologies and a microscopic car-following model to improve safety, efficiency and convenience. We rigorously…