Related papers: Online Reachability Analysis and Space Convexifica…
In this paper, a novel closed-loop control framework for autonomous obstacle avoidance on a curve road is presented. The proposed framework provides two main functionalities; (i) collision free trajectory planning using MPC and (ii) a…
We investigate the autonomous navigation of a mobile robot in the presence of other moving vehicles under time-varying uncertain environmental disturbances. We first predict the future state distributions of other vehicles to account for…
Confined areas present an opportunity for early deployment of autonomous vehicles (AV) due to the absence of non-controlled traffic participants. In this paper, we present an approach for coordination of multiple AVs in confined sites. The…
Real-world autonomous vehicles often operate in a priori unknown environments. Since most of these systems are safety-critical, it is important to ensure they operate safely in the face of environment uncertainty, such as unseen obstacles.…
This paper proposes an optimization-based approach to predict trajectories of autonomous race cars. We assume that the observed trajectory is the result of an optimization problem that trades off path progress against acceleration and jerk…
We propose an output feedback control-based motion planning technique for agents to enable them to converge to a specified polynomial trajectory while imposing a set of safety constraints on our controller to avoid collisions within the…
This paper proposes a path planning algorithm for autonomous vehicles, evaluating collision severity with respect to both static and dynamic obstacles. A collision severity map is generated from ratings, quantifying the severity of…
This work presents an efficient method to solve a class of continuous-time, continuous-space stochastic optimal control problems of robot motion in a cluttered environment. The method builds upon a path integral representation of the…
Reachability analysis is important for studying optimal control problems and differential games, which are powerful theoretical tools for analyzing and modeling many practical problems in robotics, aircraft control, among other application…
The development of connected autonomous vehicles (CAVs) facilitates the enhancement of traffic efficiency in complicated scenarios. In unsignalized roundabout scenarios, difficulties remain unsolved in developing an effective and efficient…
We consider the problem of incentivization and optimal control of autonomous vehicles for improving traffic congestion. In our scenario, autonomous vehicles must be incentivized in order to participate in traffic improvement. Using the…
This article addresses obstacle avoidance motion planning for autonomous vehicles, specifically focusing on highway overtaking maneuvers. The control design challenge is handled by considering a mathematical vehicle model that captures both…
In this paper, we tackle the problem of planning an optimal coverage path for a robot operating indoors. Many existing approaches attempt to discourage turns in the path by covering the environment along the least number of coverage lines,…
Autonomous vehicles interacting with other traffic participants heavily rely on the perception and prediction of other agents' behaviors to plan safe trajectories. However, as occlusions limit the vehicle's perception ability, reasoning…
Vehicle trajectory planning is a key component for an autonomous driving system. A practical system not only requires the component to compute a feasible trajectory, but also a comfortable one given certain comfort metrics. Nevertheless,…
This paper studies the problem of control strategy synthesis for dynamical systems with differential constraints to fulfill a given reachability goal while satisfying a set of safety rules. Particular attention is devoted to goals that…
Balancing safety and efficiency when planning in dense traffic is challenging. Interactive behavior planners incorporate prediction uncertainty and interactivity inherent to these traffic situations. Yet, their use of single-objective…
Real-time safety systems are crucial components of intelligent vehicles. This paper introduces a prediction-based collision risk assessment approach on highways. Given a point mass vehicle dynamics system, a stochastic forward reachable set…
This article examines a symbolic numerical approach to optimize a vehicle's track for autonomous driving and collision avoidance. The new approach uses the classical cost function definition incorporating the essential aspects of the…
This paper considers the optimal control for hybrid systems whose trajectories transition between distinct subsystems when state-dependent constraints are satisfied. Though this class of systems is useful while modeling a variety of…