Related papers: Effective Finite Time Stability Control for Human-…
Human-leading truck platooning systems have been proposed to leverage the benefits of both human supervision and vehicle autonomy. Equipped with human guidance and autonomous technology, human-leading truck platooning systems are more…
This paper deals with sliding mode control for multivariable polytopic uncertain systems. We provide systematic procedures to design variable structure controllers (VSCs) and unit-vector controllers (UVCs). Based on suitable representations…
Consensus formation tracking of multiple autonomous underwater vehicles (AUVs) subject to nonlinear and uncertain dynamics is a challenging problem in robotics. To tackle this challenge, a distributed bioinspired sliding mode controller is…
This paper investigates real-time control strategies for dynamical systems that involve frictional contact interactions. Hybridness and underactuation are key characteristics of these systems that complicate the design of feedback…
In this paper, disturbance reconstruction and robust trajectory tracking control of biped robots with hybrid dynamics in the port-Hamiltonian form is investigated. A new type of Hamiltonian function is introduced, which ensures the…
Action anticipation, intent prediction, and proactive behavior are all desirable characteristics for autonomous driving policies in interactive scenarios. Paramount, however, is ensuring safety on the road -- a key challenge in doing so is…
Haptic interaction is essential for the dynamic dexterity of animals, which seamlessly switch from an impedance to an admittance behaviour using the force feedback from their proprioception. However, this ability is extremely challenging to…
Vehicle stability control systems are important components of active safety systems for road transport. The problem of vehicle lateral stability control is addressed in this paper using active front wheel steering and individual braking.…
Humanoid robots are envisioned to perform a wide range of tasks in human-centered environments, requiring controllers that combine agility with robust balance. Recent advances in locomotion and whole-body tracking have enabled impressive…
Autonomous driving technology has advanced significantly, yet detecting driving anomalies remains a major challenge due to the long-tailed distribution of driving events. Existing methods primarily rely on single-modal road condition video…
Forward Collision Warning systems are crucial for vehicle safety and autonomous driving, yet current methods often fail to balance precise multi-agent interaction modeling with real-time decision adaptability, evidenced by the high…
Autonomous vehicles (AVs) enable more efficient and sustainable transportation systems. Ample studies have shown that controlling a small fraction of AVs can smooth traffic flow and mitigate traffic congestion. However, deploying AVs in…
Distributed control algorithms are known to reduce overall computation time compared to centralized control algorithms. However, they can result in inconsistent solutions leading to the violation of safety-critical constraints. Inconsistent…
Generalized policy and execution efficiency constitute the two critical challenges in robotic manipulation. While recent foundation policies benefit from the common-sense reasoning capabilities of internet-scale pretrained vision-language…
The implementation of optimization-based motion coordination approaches in real world multi-agent systems remains challenging due to their high computational complexity and potential deadlocks. This paper presents a distributed model…
The technological and scientific challenges involved in the development of autonomous vehicles (AVs) are currently of primary interest for many automobile companies and research labs. However, human-controlled vehicles are likely to remain…
Semi-active suspensions have drawn particular attention due to their superior performance over the other types of suspensions. One of their advantages is that their damping coefficient can be controlled without the need for any external…
Chattering phenomena is the major problem affecting sliding mode control (SMC). Also, finding a suitable structure and appropriate parameters values of fuzzy logic system (FLS) is a complex and difficult task. In addition, the stability of…
We derive time and energy-optimal policies for a Connected Autonomous Vehicle (CAV) to execute lane change maneuvers in mixed traffic, i.e., in the presence of both CAVs and Human Driven Vehicles (HDVs). These policies are also shown to be…
Shared Control methods often use impedance control to track target poses in a robotic manipulator. The guidance behavior of such controllers is shaped by the used stiffness gains, which can be varying over time to achieve an adaptive…