Related papers: Design and Implementation of Path Trackers for Ack…
Self-driving vehicles have the potential to reduce accidents and fatalities on the road. Many production vehicles already come equipped with basic self-driving capabilities, but have trouble following lanes in adverse lighting and weather…
A major challenge in autonomous driving is designing control architectures that guarantee safety in all relevant driving scenarios. Given a safe desired reference trajectory for the vehicle, a trajectory following controller has to ensure…
We introduce ITTO, a challenging new benchmark suite for evaluating and diagnosing the capabilities and limitations of point tracking methods. Our videos are sourced from existing datasets and egocentric real-world recordings, with…
In this paper, we formulate a virtual target-based path following guidance law aimed towards multi-vehicle path following problem. The guidance law is well suited to precisely follow circular paths while minting desired distance between two…
Autonomous vehicles are more likely to be accepted if they drive accurately, comfortably, but also similar to how human drivers would. This is especially true when autonomous and human-driven vehicles need to share the same road. The main…
Reliable lane-following is essential for automated and assisted driving, yet existing solutions often rely on models that require extensive computational resources, limiting their deployment in compute-constrained vehicles. We evaluate five…
Autonomous navigation of ground robots on uneven terrain is being considered in more and more tasks. However, uneven terrain will bring two problems to motion planning: how to assess the traversability of the terrain and how to cope with…
The paper presents a strategy for the control of anautonomous racing car on a pre-mapped track. Using a dynamic model of the vehicle, the optimal racing line is computed, taking track boundaries into account. With the optimal racing line as…
The physical coupling between robots has the potential to improve the capabilities of multi-robot systems in challenging manufacturing processes. However, the path tracking accuracy of physically coupled robots is not studied adequately,…
We present an approach to path following using so-called control funnel functions. Synthesizing controllers to "robustly" follow a reference trajectory is a fundamental problem for autonomous vehicles. Robustness, in this context, requires…
Development of computing power and cheap video cameras enabled today's traffic management systems to include more cameras and computer vision applications for transportation system monitoring and control. Combined with image processing…
Today people increasingly have the opportunity to opt-in to "usage-based" automotive insurance programs for reducing insurance premiums. In these programs, participants install devices in their vehicles that monitor their driving behavior,…
Maneuvering an articulated vehicle on narrow road stretches is often a challenging task for a human driver. Unless the vehicle is accurately steered, parts of the vehicle's bodies may exceed its assigned drive lane, resulting in an…
Robot navigation in complex environments necessitates controllers that prioritize safety while remaining performant and adaptable. Traditional controllers like Regulated Pure Pursuit, Dynamic Window Approach, and Model-Predictive Path…
To operate safely, an automated vehicle (AV) must anticipate how the environment around it will evolve. For that purpose, it is important to know which prediction models are most appropriate for every situation. Currently, assessment of…
Fueled by motion prediction competitions and benchmarks, recent years have seen the emergence of increasingly large learning based prediction models, many with millions of parameters, focused on improving open-loop prediction accuracy by…
Reverse parking maneuvers of a vehicle with trailer system is a challenging task to complete for human drivers due to the unstable nature of the system and unintuitive controls required to orientate the trailer properly. This paper hence…
Annually, a large number of injuries and deaths around the world are related to motor vehicle accidents. This value has recently been reduced to some extent, via the use of driver-assistance systems. Developing driver-assistance systems…
Model predictive control has emerged as an effective approach for real-time optimal control of connected and automated vehicles. However, nonlinear dynamics of vehicle and traffic systems make accurate modeling and real-time optimization…
Autonomous racing is becoming popular for academic and industry researchers as a test for general autonomous driving by pushing perception, planning, and control algorithms to their limits. While traditional control methods such as MPC are…