Related papers: A hybrid controller for safe and efficient collisi…
We study a novel principle for safe and efficient collision avoidance that adopts a mathematically elegant and general framework abstracting as much as possible from the controlled vehicle's dynamics and of its environment. Vehicle dynamics…
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…
Accomplishing safe and efficient driving is one of the predominant challenges in the controller design of connected automated vehicles (CAVs). It is often more convenient to address these goals separately and integrate the resulting…
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…
Although extensive research in emergency collision avoidance has been carried out for straight or curved roads in a highway scenario, a general method that could be implemented for all road environments has not been thoroughly explored.…
For a vehicle moving in an $n$-dimensional Euclidean space, we present a construction of a hybrid feedback that guarantees both global asymptotic stabilization of a reference position and avoidance of an obstacle corresponding to a bounded…
We study the problem of target stabilization with robust obstacle avoidance in robots and vehicles that have access only to vision-based sensors for the purpose of realtime localization. This problem is particularly challenging due to the…
It is widely acknowledged that drivers should remain in the control loop of automated vehicles before they completely meet real-world operational conditions. This paper introduces an `indirect shared control' scheme for steer-by-wire…
This paper proposes a novel extension of the Simplex architecture with model switching and model learning to achieve safe velocity regulation of self-driving vehicles in dynamic and unforeseen environments. To guarantee the reliability of…
We propose a real-time hybrid controller scheme to detect and mitigate False-Data Injection (FDI) attacks on Cooperative Adaptive Cruise Control (CACC). Our method uses sensor redundancy to create equivalent controller realizations, each…
This paper presents the design and implementation results of an ecological adaptive cruise controller (ECO-ACC) which exploits driving automation and connectivity. The controller avoids front collisions and traffic light violations, and is…
We develop an autonomous navigation algorithm for a robot operating in two-dimensional environments containing obstacles, with arbitrary non-convex shapes, which can be in close proximity with each other, as long as there exists at least…
Planning and control for autonomous vehicles usually are hierarchical separated. However, increasing performance demands and operating in highly dynamic environments requires an frequent re-evaluation of the planning and tight integration…
Soft robots have been leveraged in considerable areas like surgery, rehabilitation, and bionics due to their softness, flexibility, and safety. However, it is challenging to produce two same soft robots even with the same mold and…
Safety is an important topic in autonomous driving since any collision may cause serious injury to people and damage to property. Hamilton-Jacobi (HJ) Reachability is a formal method that verifies safety in multi-agent interaction and…
As autonomous vehicles (AVs) inch closer to reality, a central requirement for acceptance will be earning the trust of humans in everyday driving situations. In particular, the interaction between AVs and pedestrians is of high importance,…
In this paper, we propose a framework for the longitudinal control of connected and automated vehicles traveling in mixed traffic consisting of connected and non-connected human-driven vehicles. Reactive and predictive controllers are…
We present the design and validation of a centralized controller, called a supervisor, for collision avoidance of multiple human-driven vehicles at a road intersection, considering measurement errors, unmodeled dynamics, and uncontrolled…
In this paper, a novel closed-loop control framework for autonomous obstacle avoidance on a curve road is presented. The proposed framework provides two main functionalities; (i) collision free trajectory planning using MPC and (ii) a…
We present the design of a safe Adaptive Cruise Control (ACC) which uses road grade and lead vehicle motion preview. The ACC controller is designed by using a Model Predictive Control (MPC) framework to optimize comfort, safety,…