Related papers: Effective Finite Time Stability Control for Human-…
Many unmanned aerial vehicles (UAVs) can remain aerodynamically flyable after sustaining structural or control surface damage, yet insufficient robustness in conventional autopilots often leads to mission failure. This paper proposes a…
Haptic shared control is expected to achieve a smooth collaboration between humans and automated systems, because haptics facilitate mutual communication. A methodology for sharing a given task is important to achieve effective shared…
Recent research has paid little attention to complex driving behaviors, namely merging car-following and lane-changing behavior, and how lane-changing affects algorithms designed to model and control a car-following vehicle. During the…
Connected vehicle fleets are deployed worldwide in several industrial IoT scenarios. With the gradual increase of machines being controlled and managed through networked smart devices, the predictive maintenance potential grows rapidly.…
Coordinated control of connected and automated vehicles (CAVs) emerges as a promising technology to improve traffic safety, efficiency, and sustainability. Meanwhile, mixed traffic, where CAVs coexist with conventional human-driven vehicles…
In future mixed traffic Highly Automated Vehicles (HAV) will have to resolve interactions with human operated traffic. A particular problem for HAVs is detection of human states influencing safety critical decisions and driving behavior of…
This paper addresses two minimum reaching time control problems within the context of finite stable systems. The well-known Variable Structure Control (VSC) and Unity Vector Control (UVC) strategies are analyzed, with the primary objective…
This paper presents an adaptive leading cruise control strategy for the connected and automated vehicle (CAV) and first considers its impact on the following human-driven vehicle (HDV) with diverse driving characteristics in the unified…
This paper proposes a robust design of Hybrid Fuzzy Controller for speed and steering angle control in an Intelligent Autonomous Parking System (IAPS). The Hybrid Fuzzy Controller consists of a Base Fuzzy Controller (BFC) and a Supervisory…
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…
Nowadays, automobile manufacturers make efforts to develop ways to make cars fully safe. Monitoring driver's actions by computer vision techniques to detect driving mistakes in real-time and then planning for autonomous driving to avoid…
This paper presents a novel position control strategy for a single-link flexible manipulator, tailored for applications where precise position must be achieved within strict time constraints. To accomplish this objective, firstly, a nested…
This paper develops a new control design for guaranteeing a vehicle's safety during lane change maneuvers in a complex traffic environment. The proposed method uses a finite state machine (FSM), where a quadratic program based optimization…
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…
This paper introduces a safe force/position tracking control strategy designed for Free-Floating Mobile Manipulator Systems (MMSs) engaging in compliant contact with planar surfaces. The strategy uniquely integrates the Control Barrier…
This paper addresses the challenge of human-guided navigation for mobile collaborative robots under simultaneous proximity regulation and safety constraints. We introduce Adaptive Reinforcement and Model Predictive Control Switching (ARMS),…
Shared autonomy in driving requires anticipating human behavior, flagging risk before it becomes unavoidable, and transferring control safely and smoothly. We propose Diffusion-SAFE, a closed-loop framework built on two diffusion models: an…
When the control system in a heavy-duty wheeled mobile robot (HD-WMR) malfunctions, deviations from ideal motion occur, significantly heightening the risks of off-road instability and costly damage. To meet the demands for safety,…
We report on a dramatic improvement of the performance of the classical time-delayed autosynchronization method (TDAS) to control unstable steady states, by applying a time-varying delay in the TDAS control scheme in a form of a…
Development of control algorithms for enhancing performance in safety-critical systems such as the Autonomous Emergency Braking system (AEB) is an important issue in the emerging field of automated electric vehicles. In this study, we…