Related papers: Data-Assisted Vision-Based Hybrid Control for Robu…
In this paper, we present an on-board vision-based approach for avoidance of moving obstacles in dynamic environments. Our approach relies on an efficient obstacle detection and tracking algorithm based on depth image pairs, which provides…
Existing Advanced Driver Assistance Systems primarily focus on the vehicle directly ahead, often overlooking potential risks from following vehicles. This oversight can lead to ineffective handling of high risk situations, such as high…
As autonomous vehicles (AVs) inch closer to reality, a central requirement for acceptance will be earning the trust of humans in everyday driving situations. In particular, the interaction between AVs and pedestrians is of high importance,…
Human-vehicle cooperative driving has become the critical technology of autonomous driving, which reduces the workload of human drivers. However, the complex and uncertain road environments bring great challenges to the visual perception of…
This paper explores the design of hybrid feedback for a class of affine nonlinear systems with topological constraints that prevent global asymptotic stability. A new hybrid control strategy is introduced, which differs conceptually from…
Path tracking system plays a key technology in autonomous driving. The system should be driven accurately along the lane and be careful not to cause any inconvenience to passengers. To address such tasks, this paper proposes hybrid tracker…
The focus of this paper is an integrated, fault-tolerant vehicle supervisory control algorithm for the overall stability of ground vehicles. Vehicle control systems contain many sensors and actuators that can communicate with each other…
We present a hierarchical control approach for maneuvering an autonomous vehicle (AV) in tightly-constrained environments where other moving AVs and/or human driven vehicles are present. A two-level hierarchy is proposed: a high-level…
Avoiding hybrid obstacles in unknown scenarios with an efficient flight strategy is a key challenge for unmanned aerial vehicle applications. In this paper, we introduce a more robust technique to distinguish and track dynamic obstacles…
For systems that are not observable at the very equilibrium of interest to be stabilized, output-feedback stabilization is considerably challenging. In this paper we solve this control problem for the case-study of a second-order system…
Connected and autonomous vehicles (CAVs) can reduce human errors in traffic accidents, increase road efficiency, and execute various tasks ranging from delivery to smart city surveillance. Reaping these benefits requires CAVs to…
Autonomous systems operating in unknown environments often rely heavily on visual sensor data, yet making safe and informed control decisions based on these measurements remains a significant challenge. To facilitate the integration of…
Hybrid systems theory has become a powerful approach for designing feedback controllers that achieve dynamically stable bipedal locomotion, both formally and in practice. This paper presents an analytical framework 1) to address…
We present an integrated approach for perception and control for an autonomous vehicle and demonstrate this approach in a high-fidelity urban driving simulator. Our approach first builds a model for the environment, then trains a policy…
The technological and scientific challenges involved in the development of autonomous vehicles (AVs) are currently of primary interest for many automobile companies and research labs. However, human-controlled vehicles are likely to remain…
Stabilizing vertical dynamics for on-road and off-road vehicles is an important research area that has been looked at mostly from the point of view of ride comfort. The advent of autonomous vehicles now shifts the focus more towards…
Obstacle avoidance is crucial for mobile robots' navigation in both known and unknown environments. This research designs, trains, and tests two custom Convolutional Neural Networks (CNNs), using color and depth images from a depth camera…
Control design for general nonlinear robotic systems with guaranteed stability and/or safety in the presence of model uncertainties is a challenging problem. Recent efforts attempt to learn a controller and a certificate (e.g., a Lyapunov…
Real-time interception of fast-moving objects by robotic arms in dynamic environments poses a formidable challenge due to the need for rapid reaction times, often within milliseconds, amidst dynamic obstacles. This paper introduces a…
Hybrid systems are prevalent in robotics. However, ensuring the stability of hybrid systems is challenging due to sophisticated continuous and discrete dynamics. A system with all its system modes stable can still be unstable. Hence special…