Related papers: Safety-guaranteed trajectory planning and control …
The increasing deployment of unmanned surface vehicles (USVs) require computational support and coverage in applications such as maritime search and rescue. Unmanned aerial vehicles (UAVs) can offer low-cost, flexible aerial services, and…
This paper presents a learning- and scenario-based model predictive control (MPC) design approach for systems modeled in linear parameter-varying (LPV) framework. Using input-output data collected from the system, a state-space LPV model…
An important issue in quadcopter control is that an accurate dynamic model of the system is nonlinear, complex, and costly to obtain. This limits achievable control performance in practice. Gaussian process (GP) based estimation is an…
This paper solves the problem of station-keeping control of a surface vessel under conditions of sinusoidal disturbances with unknown parameters. The proposed control algorithm is based on the geometric approach with the use of the adaptive…
Accurate human motion prediction with well-calibrated uncertainty is critical for safe human-robot collaboration (HRC), where robots must anticipate and react to human movements in real time. We propose a structured multitask variational…
In this paper, we extend a framework that we developed earlier for coordination of connected and automated vehicles (CAVs) at a signal-free intersection to incorporate uncertainty. Using the possibly noisy observations of actual time…
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…
Gaussian process (GP) regression has been widely used in supervised machine learning due to its flexibility and inherent ability to describe uncertainty in function estimation. In the context of control, it is seeing increasing use for…
The full deployment of autonomous driving systems on a worldwide scale requires that the self-driving vehicle be operated in a provably safe manner, i.e., the vehicle must be able to avoid collisions in any possible traffic situation. In…
Trajectory optimization of a controlled dynamical system is an essential part of autonomy, however many trajectory optimization techniques are limited by the fidelity of the underlying parametric model. In the field of robotics, a lack of…
In the last decade, reinforcement learning successfully solved complex control tasks and decision-making problems, like the Go board game. Yet, there are few success stories when it comes to deploying those algorithms to real-world…
A combination of control Lyapunov functions (CLFs) and control barrier functions (CBFs) forms an efficient framework for addressing control challenges in safe stabilization. In our previous research, we developed an analytical control…
Recent advances in Unmanned Aerial Vehicles (UAVs) have resulted in their quick adoption for wide a range of civilian applications, including precision agriculture, biosecurity, disaster monitoring and surveillance. UAVs offer low-cost…
All practical systems often pose a problem of finite control capability, which can notably degrade the performance if not properly addressed. Since actuator input bounds are typically known, integrating actuator saturation considerations…
Accurate trajectory prediction is critical for safe autonomous navigation in crowded environments. While many trajectory predictors output Gaussian distributions to represent the multi-modal distribution over future pedestrian positions,…
In this paper, we present a novel framework to synthesize robust strategies for discrete-time nonlinear systems with random disturbances that are unknown, against temporal logic specifications. The proposed framework is data-driven and…
Uncertainty quantification (UQ) over graphs arises in a number of safety-critical applications in network science. The Gaussian process (GP), as a classical Bayesian framework for UQ, has been developed to handle graph-structured data by…
Information gathering algorithms play a key role in unlocking the potential of robots for efficient data collection in a wide range of applications. However, most existing strategies neglect the fundamental problem of the robot pose…
This work presents a methodology to design trajectory tracking feedback control laws, which embed non-parametric statistical models, such as Gaussian Processes (GPs). The aim is to minimize unmodeled dynamics such as undesired slippages.…
In this paper, a guidance and tracking control strategy for fixed-wing Unmanned Aerial Vehicle (UAV) autopilots is presented. The proposed control exploits recent results on sample-based stochastic Model Predictive Control, which allow…