Related papers: Fast-Replanning Motion Control for Non-Holonomic V…
This paper considers collision avoidance for vehicles with first-order nonholonomic constraints maintaining nonzero forward speeds, moving within dynamic environments. We leverage the concept of control barrier functions (CBFs) to…
Achieving rapid and effective active collision avoidance in dynamic interactive traffic remains a core challenge for autonomous driving. This paper proposes REACT (Runtime-Enabled Active Collision-avoidance Technique), a closed-loop…
Carpooling has gained considerable importance in developed as well as in developing countries as an effective solution for controlling vehicular pollution, both sound and air. As carpooling decreases the number of vehicles used by…
Connected and automated vehicles (CAVs) rely on wireless communication to exchange state information for distributed control, making communication delays a critical factor that can affect vehicle motion and degrade control performance,…
This paper proposed a novel method for autonomous parking. Autonomous parking has received a lot of attention because of its convenience, but due to the complex environment and the non-holonomic constraints of vehicle, it is difficult to…
We present an approach for predictive braking of a four-wheeled vehicle on a nonplanar road. Our main contribution is a methodology to consider friction and road contact safety on general smooth road geometry. We use this to develop an…
This article addresses the problem of controlling the speed of a number of automated vehicles before they enter a speed reduction zone on a freeway. We formulate the control problem and provide an analytical, closed-form solution that can…
We study efficient and exact shortest path algorithms for routing on road networks with realistic traffic data. For navigation applications, both current (i.e., live) traffic events and predictions of future traffic flows play an important…
This paper presents an agile reactive navigation strategy for driving a non-holonomic ground vehicle around a preset course of gates in a cluttered environment using a low-cost processor array sensor. This enables machine vision tasks to be…
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…
Multi-robot motion planning for high degree-of-freedom manipulators in shared, constrained, and narrow spaces is a complex problem and essential for many scenarios such as construction, surgery, and more. Traditional coupled methods plan…
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…
Safety is a critical concern for urban flights of autonomous Unmanned Aerial Vehicles. In populated environments, risk should be accounted for to produce an effective and safe path, known as risk-aware path planning. Risk-aware path…
Non-holonomic vehicles are of immense practical value and increasingly subject to automation. However, controlling them accurately, e.g., when parking, is known to be challenging for automatic control methods, including model predictive…
Trajectory planning for autonomous driving is challenging because the unknown future motion of traffic participants must be accounted for, yielding large uncertainty. Stochastic Model Predictive Control (SMPC)-based planners provide…
This paper addresses the problem of longitudinal platooning control of homogeneous vehicles subject to external disturbances, such as wind gusts, road slopes, and parametric uncertainties. Our control objective is to maintain the relative…
This paper presents a novel approach to automated drifting with a standard passenger vehicle, which involves a Nonlinear Model Predictive Control to stabilise and maintain the vehicle at high sideslip angle conditions. The proposed…
We propose a Path-Tracking Hybrid A* planner coupled with a hierarchical Model Predictive Control (MPC) framework for path smoothing in agricultural vehicles. The goal is to minimize deviation from reference paths during cross-furrow…
Path planning is important for the autonomy of Unmanned Aerial Vehicle (UAV), especially for scheduling UAV delivery. However, the operating environment of UAVs is usually uncertain and dynamic. Without proper planning, collisions may…
As the demands of autonomous mobile robots are increasing in recent years, the requirement of the path planning/navigation algorithm should not be content with the ability to reach the target without any collisions, but also should try to…