Related papers: Including Follower Dynamics in Beaconing for Plato…
This paper presents a novel approach to pedestrian trajectory prediction for on-board camera systems, which utilizes behavioral features of pedestrians that can be inferred from visual observations. Our proposed method, called…
Robust data association is critical for analysis of long-term motion trajectories in complex scenes. In its absence, trajectory precision suffers due to periods of kinematic ambiguity degrading the quality of follow-on analysis. Common…
Connected and automated vehicles (CAVs) have recently gained prominence in traffic research due to advances in communication technology and autonomous driving. Various longitudinal control strategies for CAVs have been developed to enhance…
This paper presents a robust path following control method for vehicles that explicitly considers steering resistance dynamics to improve tracking accuracy. Conventional methods typically treat the steering angle as a direct control input;…
This paper studies the model of the probe-drogue aerial refueling system under aerodynamic disturbances, and proposes a docking control method based on terminal iterative learning control to compensate for the docking errors caused by…
In this paper we consider the problem of stabilization and tracking of desired state trajectory for a wide range of nonlinear control problems with disturbances. We present the sufficient conditions for the existence of $C^k$ state feedback…
Coordinated motion control in swarm robotics aims to ensure the coherence of members in space, i.e., the robots in a swarm perform coordinated movements to maintain spatial structures. This problem can be modeled as a tracking control…
This paper presents a nonlinear integrated guidance and control (IGC) approach for flexible leader-follower formation flight of fixed-wing unmanned aerial vehicles (UAVs) while accounting for high-fidelity aerodynamics and thrust dynamics.…
Networked robotic systems, such as connected vehicle platoons, can improve the safety and efficiency of transportation networks by allowing for high-speed coordination. To enable such coordination, these systems rely on networked…
It is recognized that the control of mixed-autonomy platoons comprising connected and automated vehicles (CAVs) and human-driven vehicles (HDVs) can enhance traffic flow. Among existing methods, Multi-Agent Reinforcement Learning (MARL)…
Time-jerk optimal trajectory planning is crucial in advancing robotic arms' performance in dynamic tasks. Traditional methods rely on solving complex nonlinear programming problems, bringing significant delays in generating optimized…
Recent developments in autonomous driving, vehicle-to-vehicle communication and smart traffic controllers have provided a hope to realize platoon formation of vehicles. The main benefits of vehicle platooning include improved safety,…
Autonomous vehicles require reliable hazard detection. However, primary sensor systems may miss near-field obstacles, resulting in safety risks. Although a dedicated fast-reacting near-field monitoring system can mitigate this, it typically…
This paper investigates the visual servoing problem for robotic systems with uncertain kinematic, dynamic, and camera parameters. We first present the passivity properties associated with the overall kinematics of the system, and then…
The design of cooperative adaptive cruise control is critical in mixed traffic flow, where connected and automated vehicles (CAVs) and human-driven vehicles (HDVs) coexist. Compared with pure CAVs, the major challenge is how to handle the…
This paper provides new results for a robust adaptive tracking control of the attitude dynamics of a rigid body. Both of the attitude dynamics and the proposed control system are globally expressed on the special orthogonal group, to avoid…
We present an adaptive control scheme to enable the emergence of order within distributed, autonomous multi-agent systems. Past studies showed that under high-density conditions, order generated from traffic-following behavior reduces…
This paper proposes a control solution to achieve collision-free platooning control of input-constrained mobile robots. The platooning policy is based on a leader-follower approach where the leader tracks a reference trajectory while…
The design of Cooperative Adaptive Cruise Control (CACC) algorithms for vehicle platooning has been extensively investigated, leading to a wide range of approaches with different requirements and performance. Most existing studies evaluate…
This paper presents an experimental study of a path-tracking framework for autonomous vehicles in which the lateral control command is applied to a dynamic control point along the wheelbase. Instead of enforcing a fixed reference at either…