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The design of an invariant tracking control law for the kinematic car driving on a sphere is discussed. Using a Lie group framework a left-invariant description on SO(3) is derived. Basic geometric considerations allow a direct comparison…
This paper proposes a nonlinear control architecture for flexible aircraft simultaneous trajectory tracking and load alleviation. By exploiting the control redundancy, the gust and maneuver loads are alleviated without degrading the…
A reliable controller is critical and essential for the execution of safe and smooth maneuvers of an autonomous vehicle.The controller must be robust to external disturbances, such as road surface, weather, and wind conditions, and so on.It…
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…
A significant part of contemporary research in autonomous vehicles is dedicated to the development of safety critical systems where state-of-the-art artificial intelligence (AI) algorithms, like computer vision (CV), can play a major role.…
This report describes our approach to design and evaluate a software stack for a race car capable of achieving competitive driving performance in the different disciplines of the Formula Student Driverless. By using a 360{\deg} LiDAR and…
Safe navigation in real-time is challenging because engineers need to work with uncertain vehicle dynamics, variable external disturbances, and imperfect controllers. A common safety strategy is to inflate obstacles by hand-defined margins.…
This work addresses the problem of designing a visual servo controller for a multirotor vehicle, with the end goal of tracking a moving spherical target with unknown radius. To address this problem, we first transform two bearing…
In this paper a cascaded approach for stabilization and path tracking of a general 2-trailer vehicle configuration with an off-axle hitching is presented. A low level Linear Quadratic controller is used for stabilization of the internal…
The aim of this work is to develop a model-based methodology for monitoring lateral track irregularities based on the use of inertial sensors mounted on an in-service train. To this end, a gyroscope is used to measure the wheelset yaw…
High quality perception is essential for autonomous driving (AD) systems. To reach the accuracy and robustness that are required by such systems, several types of sensors must be combined. Currently, mostly cameras and laser scanners…
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…
The safety of autonomous driving systems, particularly self-driving vehicles, remains of paramount concern. These systems exhibit affine nonlinear dynamics and face the challenge of executing predefined control tasks while adhering to state…
This work aims to address the challenges in autonomous driving by focusing on the 3D perception of the environment using roadside LiDARs. We design a 3D object detection model that can detect traffic participants in roadside LiDARs in…
In this article we design a physically-inspired model-based assist-as-needed semi-autonomous control (ASC) algorithm to address the problem of safely driving a vehicle (a power wheelchair) in an environment with static obstacles. Once…
The capability to autonomously track a non-cooperative target is a key technological requirement for micro aerial vehicles. In this paper, we propose an output feedback control scheme based on deep reinforcement learning for controlling a…
Tire slip angle is a vital parameter in tire/vehicle dynamics and control. This paper proposes an accurate estimation method by the fusion of intelligent tire technology and machine-learning techniques. The intelligent tire is equipped by…
We present here a first prototype of a "Speed Limit Support" Advance Driving Assistance System (ADAS) producing permanent reliable information on the current speed limit applicable to the vehicle. Such a module can be used either for…
We present a system that enables an autonomous small-scale RC car to drive aggressively from visual observations using reinforcement learning (RL). Our system, FastRLAP (faster lap), trains autonomously in the real world, without human…
The ability of autonomous vehicles to maintain an accurate trajectory within their road lane is crucial for safe operation. This requires detecting the road lines and estimating the car relative pose within its lane. Lateral lines are…