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Time-optimal motion planning of autonomous vehicles in complex environments is a highly researched topic. This paper describes a novel approach to optimize and execute locally feasible trajectories for the maneuvering of a truck-trailer…
Automated driving on ramps presents significant challenges due to the need to balance both safety and efficiency during lane changes. This paper proposes an integrated planner for automated vehicles (AVs) on ramps, utilizing an…
With advancements in technology, commercial aircraft formation flying is becoming increasingly feasible as an efficient and environmentally friendly flight method. However, gaps remain in practical implementation, particularly in collision…
In this paper we present a framework for risk-averse model predictive control (MPC) of linear systems affected by multiplicative uncertainty. Our key innovation is to consider time-consistent, dynamic risk metrics as objective functions to…
Autonomous driving requires reliable collision avoidance in dynamic environments. Nonlinear Model Predictive Controllers (NMPCs) are suitable for this task, but struggle in time-critical scenarios requiring high frequency. To meet this…
Co-optimization of both vehicle speed and gear position via model predictive control (MPC) has been shown to offer benefits for fuel-efficient autonomous driving. However, optimizing both the vehicle's continuous dynamics and discrete gear…
Formation and collision avoidance abilities are essential for multi-agent systems. Conventional methods usually require a central controller and global information to achieve collaboration, which is impractical in an unknown environment. In…
High-speed, low-latency obstacle avoidance that is insensitive to sensor noise is essential for enabling multiple decentralized robots to function reliably in cluttered and dynamic environments. While other distributed multi-agent collision…
We propose a model predictive control (MPC) based approach to a flock control problem with obstacle avoidance capability in a leader-follower framework, utilizing the future trajectory prediction computed by each agent. We employ the…
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,…
Distributed model predictive control (MPC) has been proven a successful method in regulating the operation of large-scale networks of constrained dynamical systems. This paper is concerned with cooperative distributed MPC in which the…
This work extends our prior work on the distributed nonlinear model predictive control (NMPC) for navigating a robot fleet following a certain flocking behavior in unknown obstructed environments with a more realistic local obstacle…
Multi-vehicle coordinated motion planning has always been challenged to safely and efficiently resolve conflicts under non-holonomic dynamic constraints. Constructing spatial-temporal corridors for multi-vehicle can decouple the…
For safe navigation in dynamic uncertain environments, robotic systems rely on the perception and prediction of other agents. Particularly, in occluded areas where cameras and LiDAR give no data, the robot must be able to reason about…
To be applicable to real world scenarios trajectory planning schemes for mobile autonomous systems must be able to efficiently deal with obstacles in the area of operation. In the context of optimization based trajectory planning and…
Automated driving at unsignalized intersections is challenging due to complex multi-vehicle interactions and the need to balance safety and efficiency. Model Predictive Control (MPC) offers structured constraint handling through…
Despite the extensive application of nonlinear Model Predictive Control (MPC) in automated driving, balancing its computational efficiency with respect to the control performance and constraint satisfaction remains a challenge in emergency…
Advancements in underwater vehicle technology have significantly expanded the potential scope for deploying autonomous or remotely operated underwater vehicles in novel practical applications. However, the efficiency and maneuverability of…
Autonomous marine vessels are expected to avoid inter-vessel collisions and comply with the international regulations for safe voyages. This paper presents a stepwise path planning method using stream functions. The dynamic flow of fluids…
A new motion planning framework for automated highway merging is presented in this paper. To plan the merge and predict the motion of the neighboring vehicle, the ego automated vehicle solves a joint optimization of both vehicle costs over…