Related papers: A hybrid controller for safe and efficient collisi…
Collision-free motion is a fundamental requirement for many autonomous systems. This paper develops a safety-critical control approach for the collision-free navigation of polytope-shaped agents in polytope-shaped environments. A systematic…
The connected vehicle technology is a remarkable trend in the field of the intelligent transportation system. Since the actual deployment of the connected vehicle system is still lacking hitherto, simulation is widely adopted as the major…
Control Barrier Functions (CBF) have provided a very versatile framework for the synthesis of safe control architectures for a wide class of nonlinear dynamical systems. Typically, CBF-based synthesis approaches apply to systems that…
This paper proposes a safety-critical controller for dynamic and uncertain environments, leveraging a robust environment control barrier function (ECBF) to enhance the robustness against the measurement and prediction uncertainties…
Driverless vehicles are complex systems operating in constantly changing environments. Automated driving is achieved by controlling the coupled longitudinal and lateral vehicle dynamics. Model predictive control is one of the most promising…
In this paper, we propose a collision avoidance safety filter for autonomous electric scooters to enable safe operation of such vehicles in pedestrian areas. In particular, we employ multiple low-cost ultrasonic sensors to detect a wide…
The introduction of connected and automated vehicles (CAV) is believed to reduce congestion, enhance safety, and improve traffic efficiency. Numerous research studies have focused on controlling pure CAV platoons in fully connected…
Navigating dense, lane-less traffic remains one of the most challenging scenarios for autonomous vehicles, especially in emerging regions where road structure and driver behavior are highly unpredictable. This paper presents a hybrid…
Road traffic crashes have been the leading cause of death among young people. Most of these accidents occur when the driver becomes distracted due to fatigue or external factors. Vehicle platooning systems such as Cooperative Adaptive…
The implementation of connected and automated vehicle technologies enables opportunities for a novel computational framework for real-time control actions aimed at optimizing energy consumption and associated benefits. In this paper, we…
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…
Navigation and guidance of autonomous vehicles is a fundamental problem in robotics, which has attracted intensive research in recent decades. This report is mainly concerned with provable collision avoidance of multiple autonomous vehicles…
This paper proposes a Robust Safe Control Architecture (RSCA) for safe-decision making. The system to be controlled is a vehicle in the presence of bounded disturbances. The RSCA consists of two parts: a Supervisor MPC and a Controller MPC.…
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…
Eco-driving strategies have demonstrated substantial potential for improving energy efficiency and reducing emissions, especially at signalized intersections. However, evaluations of eco-driving methods typically rely on simplified…
The control for aggressive driving of autonomous cars is challenging due to the presence of significant tyre slip. Data-driven and mechanism-based methods for the modeling and control of autonomous cars under aggressive driving conditions…
This paper presents an adaptive haptic shared control framework wherein a driver and an automation system are physically connected through a motorized steering wheel. The automation system is modeled as an intelligent agent that is not only…
Road intersections are widely recognized as a lead cause for accidents and traffic delays. In a future scenario with a significant adoption of Cooperative Autonomous Vehicles, solutions based on fully automatic, signage-less Intersection…
Imitation learning provides a way to automatically construct a controller by mimicking human behavior from data. For safety-critical systems such as autonomous vehicles, it can be problematic to use controllers learned from data because…
This paper investigates the car-following problem and proposes a nonlinear controller that considers driving comfort, safety concerns, steady-state response and transient response. This controller is designed based on the demands of lower…