Related papers: Switched Vector Field-based Guidance for General R…
In this paper the problem of guidance formulation for autonomous soft landing of unmanned aerial vehicles on stationary, moving, or accelerating / maneuvering ground vehicles at desired approach angles in both azimuth and elevation is…
Essential tasks in autonomous driving includes environment perception, detection and tracking, path planning and action control. This paper focus on path planning, which is one of the challenging task as it needs to find optimal path in…
This paper presents a new connectivity condition on the information flow between UAVs to achieve coordinated path following. The information flow is directional, so that the underlying communication network topology is represented by a…
In this paper, we present an iterative method to quickly traverse multi-dimensional paths considering jerk constraints. As a first step, we analyze the traversal of each individual path dimension. We derive a range of feasible target…
The positive impacts of platooning on travel time reliability, congestion, emissions, and energy consumption have been shown for homogeneous roadway segments. However, speed limit changes frequently throughout the transportation network,…
Practical global path planning is critical for commercializing cleaning robots working in semi-structured environments. In the literature, global path planning methods for free space usually focus on path length and neglect the traffic rule…
A novel prize-winner algorithm designed for a path following problem within the Unmanned Aerial Vehicle (UAV) field is presented in this paper. The proposed approach exploits the advantages offered by the pure pursuing algorithm to set up…
Automated driving in urban scenarios requires efficient planning algorithms able to handle complex situations in real-time. A popular approach is to use graph-based planning methods in order to obtain a rough trajectory which is…
Trajectory similarity search plays an essential role in autonomous driving, as it enables vehicles to analyze the information and characteristics of different trajectories to make informed decisions and navigate safely in dynamic…
Feedback motion planning over cell decompositions provides a robust method for generating collision-free robot motion with formal guarantees. However, existing algorithms often produce paths with unnecessary bending, leading to slower…
Self driving vehicles should be able to perform parallel parking or a similar maneuver successfully. With this motivation, the S shaped maneuverability test of the Ohio driver license examination is chosen here for automatic execution by a…
The field of motion prediction for automated driving has seen tremendous progress recently, bearing ever-more mighty neural network architectures. Leveraging these powerful models bears great potential for the closely related planning task.…
Vector-based algorithms are novel algorithms in optimal any-angle path planning that are motivated by bug algorithms, bypassing free space by directly conducting line-of-sight checks between two queried points, and searching along obstacle…
Research in the field of automated driving has created promising results in the last years. Some research groups have shown perception systems which are able to capture even complicated urban scenarios in great detail. Yet, what is often…
Trajectory prediction with uncertainty is a critical and challenging task for autonomous driving. Nowadays, we can easily access sensor data represented in multiple views. However, cross-view consistency has not been evaluated by the…
Drifting, characterized by controlled vehicle motion at high sideslip angles, is crucial for safely handling emergency scenarios at the friction limits. While recent reinforcement learning approaches show promise for drifting control, they…
With the goal of increasing the speed and efficiency in robotic manipulation, a control approach is presented that aims to utilize intentional simultaneous impacts to its advantage. This approach exploits the concept of the time-invariant…
The thesis presents contributions made to the evaluation and design of a haptic guidance system on improving driving performance in cases of normal and degraded visual information, which are based on behavior experiments, modeling and…
This paper proposes a novel framework to alleviate the model drift problem in visual tracking, which is based on paced updates and trajectory selection. Given a base tracker, an ensemble of trackers is generated, in which each tracker's…
The design of the path-following controller is crucial for reliable autonomous vehicle operation. This design problem is especially challenging for a general 2-trailer with a car-like tractor due to the vehicle's unstable joint-angle…