Related papers: Validation of critical maneuvers based on shared c…
Before reaching full autonomy, vehicles will gradually be equipped with more and more advanced driver assistance systems (ADAS), effectively rendering them semi-autonomous. However, current ADAS technologies seem unable to handle complex…
The safe control of multi-robot swarms is a challenging and active field of research, where common goals include maintaining group cohesion while simultaneously avoiding obstacles and inter-agent collision. Building off our previously…
Prior to realizing fully autonomous driving, human intervention will be required periodically to guarantee vehicle safety. This fact poses a new challenge in human-machine interaction, particularly during control authority transition from…
A shared grasp is a grasp formed by contacts between the manipulated object and both the robot hand and the environment. By trading off hand contacts for environmental contacts, a shared grasp requires fewer contacts with the hand, and…
This chapter focuses on the self-driving technology from a control perspective and investigates the control strategies used in autonomous vehicles and advanced driver-assistance systems from both theoretical and practical viewpoints. First,…
Humans show specialized strategies for efficient collaboration. Transferring similar strategies to humanoid robots can improve their capability to interact with other agents, leading the way to complex collaborative scenarios with multiple…
Motion planning in environments with multiple agents is critical to many important autonomous applications such as autonomous vehicles and assistive robots. This paper considers the problem of motion planning, where the controlled agent…
The homologation of automated vehicles, being safety-critical complex systems, requires sound evidence for their safe operability. Traditionally, verification and validation activities are guided by a combination of ISO 26262 and ISO/PAS…
As the popularity of autonomous vehicles has grown, many standards and regulators, such as ISO, NHTSA, and Euro NCAP, require safety validation to ensure a sufficient level of safety before deploying them in the real world. Manufacturers…
Shared control allows the human driver to collaborate with an assistive driving system while retaining the ability to make decisions and take control if necessary. However, human-vehicle teaming and planning are challenging due to…
Brain controlled vehicle refers to the vehicle that obtains control commands by analyzing the driver's EEG through Brain-Computer Interface (BCI). The research of brain controlled vehicles can not only promote the integration of brain…
Driver distraction is a well-known cause for traffic collisions worldwide. Studies have indicated that shared steering control, which actively provides haptic guidance torque on the steering wheel, effectively improves the performance of…
Collaborative navigation becomes essential in situations of occluded scenarios in autonomous driving where independent driving policies are likely to lead to collisions. One promising approach to address this issue is through the use of…
Traffic simulation is a cost-effective way to test the deployment of Cooperative Adaptive Cruise Control (CACC) vehicles in a large-scale transportation network. By using a previously developed microscopic simulation testbed, this paper…
We report results obtained and insights gained while answering the following question: how effective is it to use a simulator to establish path following control policies for an autonomous ground robot? While the quality of the simulator…
We propose a formalism for shared control, which is the problem of defining a policy that blends user control and autonomous control. The challenge posed by the shared autonomy system is to maintain user control authority while allowing the…
One of the bottlenecks of automated driving technologies is safe and socially acceptable interactions with human-driven vehicles, for example during merging. Driver models that provide accurate predictions of joint and individual driver…
This paper presents an adaptive haptic shared control framework wherein a driver and an automation system are physically connected through a motorized steering wheel. The automation system is modeled as an intelligent agent that is not only…
Simulators are useful tools for testing automated driving controllers. Vehicle-in-the-loop (ViL) tests and digital twins (DTs) are widely used simulation technologies to facilitate the smooth deployment of controllers to physical vehicles.…
The validation of autonomous driving systems benefits greatly from the ability to generate scenarios that are both realistic and precisely controllable. Conventional approaches, such as real-world test drives, are not only expensive but…