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Development of control algorithms for enhancing performance in safety-critical systems such as the Autonomous Emergency Braking system (AEB) is an important issue in the emerging field of automated electric vehicles. In this study, we…
In this paper, a human-machine adaptive shared control method is proposed for automated vehicles (AVs) under automation performance degradation. First, a novel risk assessment module is proposed to monitor driving behavior and evaluate…
This paper presents the development of a tangible platform for demonstrating the practical implementation of cooperative adaptive cruise control (CACC) systems, an enhancement to the standard adaptive cruise control (ACC) concept by means…
In this article the implementation of a controller and specifically of a Model Predictive Controller (MPC) on an Edge Computing device, for controlling the trajectory of an Unmanned Aerial Vehicle (UAV) model, is examined. MPC requires more…
Connected and autonomous vehicles (CAVs) have great potential to improve road transportation systems. Most existing strategies for CAVs' longitudinal control focus on downstream traffic conditions, but neglect the impact of CAVs' behaviors…
We consider a two-level discrete-time control framework with real-time constraints where a central controller issues setpoints to be implemented by local controllers. The local controllers implement the setpoints with some approximation and…
We present a new output feedback fault tolerant control strategy for continuous-time linear systems. The strategy combines a digital nominal controller under controller-driven (varying) sampling with virtual-actuator (VA)-based controller…
In this paper, we present an optimal control framework to address motion coordination of connected automated vehicles (CAVs) in the presence of human-driven vehicles (HDVs) in merging scenarios. Our framework combines an unconstrained…
Automatic Guided Vehicle (AGV) has been widely applied in automatic logistics system because it provides flexibility and efficiency. This paper addresses review and design of multi AGVs system (MAGS) and its coordination control to be…
Automated driving systems require monitoring mechanisms to ensure operation as intended, especially when system elements degrade and/or fail. Hence, capability monitoring is crucial in order to evaluate the system's remaining performance…
The integration of Unmanned Aerial Vehicles (UAVs) and Unmanned Ground Vehicles (UGVs) is increasingly central to the development of intelligent autonomous systems for applications such as search and rescue, environmental monitoring, and…
In this paper, an exponentially stable trajectory tracking controller is proposed for multi-UAV payload transport. The multi-UAV payload system has a 2-DOF magnetic spherical joint between the UAVs and the vertical rigid links of the…
This paper presents adaptive event-triggered formation control strategies for autonomous vehicles (AVs) subject to longitudinal and lateral motion uncertainties. The proposed framework explores various vehicular formations to enable safe…
Integrated communication and sensing, which can make full use of the limited spectrum resources to perform communication and sensing tasks simultaneously, is an up-and-coming technology in wireless communication networks. In this work, we…
This paper provides a systematic review of emerging control techniques used for railway Virtual Coupling (VC) studies. Train motion models are first reviewed, including model formulations and the force elements involved. Control objectives…
The transformation to smart factories and the automation of mobile robotics is partly driven by a growing availability of ubiquitous cloud technologies. In cyber-physical systems, such as control systems, critical parts can be migrated to a…
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…
This paper introduces an analytical framework to investigate optimal design choices for the placement of virtual controllers along the cloud-to-things continuum. The main application scenarios include low-latency cyber-physical systems in…
Converter-based generators and loads are growing in prevalence on power grids across the globe. The rise of these resources necessitates controllers that handle the power electronic devices' strict current limits without jeopardizing…
Learning-based adaptive control methods hold the premise of enabling autonomous agents to reduce the effect of process variations with minimal human intervention. However, its application to autonomous underwater vehicles (AUVs) has so far…