Related papers: Distributed Containment Reference Signal for Nonho…
This work investigates a reduced-complexity adaptive methodology to consensus tracking for a team of uncertain high-order nonlinear systems with switched (possibly asynchronous) dynamics. It is well known that high-order nonlinear systems…
Ensuring safe behavior for automated vehicles in unregulated traffic areas poses a complex challenge for the industry. It is an open problem to provide scalable and certifiable solutions to this challenge. We derive a trajectory planner…
In practice, e.g. in delivery and service scenarios, Vehicle-Routing-Problems (VRPs) often imply repeated decision making on dynamic customer requests. As in classical VRPs, tours have to be planned short while the number of serviced…
In this paper, a model reference adaptive control architecture is proposed for uncertain nonlinear systems to achieve prescribed performance guarantees. Specifically, a general nonlinear reference model system is considered that captures an…
CAV platooning technology has received considerable attention in the past few years, driven by the next generation smart transportation systems. Unlike most of the existing platooning methods that focus on linear vehicle dynamics of CAVs,…
This paper considers the problem of completing assemblies of passive objects in nonconvex environments, cluttered with convex obstacles of unknown position, shape and size that satisfy a specific separation assumption. A differential drive…
This paper presents a layered control approach for real-time trajectory planning and control of robust cooperative locomotion by two holonomically constrained quadrupedal robots. A novel interconnected network of reduced-order models, based…
We describe a method to model nonlinear dynamical systems using periodic solutions of delay-differential equations. We show that any finite-time trajectory of a nonlinear dynamical system can be loaded approximately into the initial…
Multi-robot teams have attracted attention from industry and academia for their ability to perform collaborative tasks in unstructured environments, such as wilderness rescue and collaborative transportation.In this paper, we propose a…
Vehicle platooning has been shown to be quite fruitful in the transportation industry to enhance fuel economy, road throughput, and driving comfort. Model Predictive Control (MPC) is widely used in literature for platoon control to achieve…
To improve safety and energy efficiency, autonomous vehicles are expected to drive smoothly in most situations, while maintaining their velocity below a predetermined speed limit. However, some scenarios such as low road adherence or…
This paper presents a continuous-time optimal control framework for the generation of reference trajectories in driving scenarios with uncertainty. A previous work presented a discrete-time stochastic generator for autonomous vehicles;…
The discrete-time robust repetitive control (RC, or repetitive controller, also designated RC) problem for nonlinear systems is both challenging and practical. This paper proposes a discrete-time output-feedback RC design for a class of…
The trajectory derived from RRT and RRT* is zagged. A holonomic drive is able to follow this trajectory. But real-life vehicle which has dynamical constraints cannot follow this trajectory. In this work, we are going to modify the RRT and…
The unknown sharp changes of vehicle acceleration rates, also called the unknown jerk dynamics, may significantly affect the driving performance of the leader vehicle in a platoon, resulting in more drastic car-following movements in…
Reliable real-time planning for robots is essential in today's rapidly expanding automated ecosystem. In such environments, traditional methods that plan by relaxing constraints become unreliable or slow-down for kinematically constrained…
We present a lightweight, decentralized algorithm for navigating multiple nonholonomic agents through challenging environments with narrow passages. Our key idea is to allow agents to yield to each other in large open areas instead of…
We present a sequential distributed model predictive control (MPC) scheme for cooperative control of multi-agent systems with dynamically decoupled heterogeneous nonlinear agents subject to individual constraints. In the scheme, we explore…
The introduction of highly automated vehicles on the public road may improve safety and comfort, although its success will depend on social acceptance. This requires trajectory planning methods that provide safe, proactive, and comfortable…
Trajectory prediction and behavioral decision-making are two important tasks for autonomous vehicles that require good understanding of the environmental context; behavioral decisions are better made by referring to the outputs of…