Related papers: The Controllability of Planning, Responsibility, a…
Mobile robots, becoming increasingly autonomous, are capable of operating in diverse and unknown environments. This flexibility allows them to fulfill goals independently and adapting their actions dynamically without rigidly predefined…
Autonomous Vehicles (AVs) are increasingly embraced around the world to advance smart mobility and more broadly, smart, and sustainable cities. Algorithms form the basis of decision-making in AVs, allowing them to perform driving tasks…
Autonomous Vehicles (AVs) should reduce traffic accidents, but they will sometimes have to choose between two evils-for example, running over pedestrians or sacrificing itself and its passenger to save them. Defining the algorithms that…
The penetration of electric vehicles becomes a catalyst for the sustainability of Smart Cities. However, unregulated battery charging remains a challenge causing high energy costs, power peaks or even blackouts. This paper studies this…
Motion planning and control are key problems in a collection of robotic applications including the design of autonomous agile vehicles and of minimalist manipulators. These problems can be accurately formalized within the language of affine…
This paper studies an optimal control problem for a string of vehicles with safety requirements and finite-time specifications on the approach time to a target region. Our problem formulation is motivated by scenarios involving autonomous…
A significant barrier to deploying autonomous vehicles (AVs) on a massive scale is safety assurance. Several technical challenges arise due to the uncertain environment in which AVs operate such as road and weather conditions, errors in…
In this paper, we define four different notions of controllability of physical interest for multilevel quantum mechanical systems. These notions involve the possibility of driving the evolution operator as well as the state of the system.…
Autonomous vehicles are on the horizon and will be transforming transportation safety and comfort. These vehicles will be connected to various external systems and utilize advanced embedded systems to perceive their environment and make…
The recent proliferation of computing technologies (e.g., sensors, computer vision, machine learning, and hardware acceleration), and the broad deployment of communication mechanisms (e.g., DSRC, C-V2X, 5G) have pushed the horizon of…
Delays endanger safety of autonomous systems operating in a rapidly changing environment, such as nondeterministic surrounding traffic participants in autonomous driving and high-speed racing. Unfortunately, delays are typically not…
In this paper, we investigate the adaptive control problem for robot manipulators with both the uncertain kinematics and dynamics. We propose two adaptive control schemes to realize the objective of task-space trajectory tracking…
Autonomous control systems use various sensors to decrease the amount of uncertainty under which they operate. While providing partial observation of the current state of the system, sensors require resources such as energy, time and…
Enabled and driven by modern advances in wireless telecommunication and artificial intelligence, the convergence of communication, computing, and control is becoming inevitable in future industrial applications. Analytical and optimizing…
Autonomous space vehicles need adaptive control strategies that can accommodate unanticipated environmental conditions. The evaluation of new strategies can often be done only by actually trying them out in the real physical environment.…
In mathematics and engineering, control theory is concerned with the analysis of dynamical systems through the application of suitable control inputs. One of the prominent problems in control theory is controllability which concerns the…
Action anticipation, intent prediction, and proactive behavior are all desirable characteristics for autonomous driving policies in interactive scenarios. Paramount, however, is ensuring safety on the road -- a key challenge in doing so is…
Ttraditional safety engineering is coming to a turning point moving from deterministic, non-evolving systems operating in well-defined contexts to increasingly autonomous and learning-enabled AI systems which are acting in largely…
Secure robotics is a multi-disciplinary endeavour for improving the cybersecurity posture of robotic and embodied Artificial Intelligence systems. The article surveys emerging concepts and ideas encapsulating the notion of secure robotics…
At Levels 2 and 3 of autonomous driving defined by the Society of Auto-motive Engineers, drivers must take on certain driving responsibilities, and automated driving must sometimes yield to human control. This situation can occur in real…