Related papers: Beacon-Based Feedback Control for Parking an Activ…
This demonstration presents U-Parking, a distributed Ultra-Wideband (UWB)-assisted autonomous parking system. By integrating Large Language Models (LLMs)-assisted planning with robust fusion localization and trajectory tracking, it enables…
The way we communicate with autonomous cars will fundamentally change as soon as manual input is no longer required as back-up for the autonomous system. Maneuver-based driving is a potential way to allow still the user to intervene with…
This paper introduces a comprehensive approach to optimize parking efficiency for connected and Automated vehicle (CAVs) fleets. We present a multi-vehicle parking simulator, equipped with hierarchical path planning and collision avoidance…
Self-balancing robot is based on the principle of Inverted pendulum, which is a two-wheel vehicle balances itself up in the vertical position with reference to the ground. It consists of both hardware and software implementation. Mechanical…
A common approach to the generation of walking patterns for humanoid robots consists in adopting a layered control architecture. This paper proposes an architecture composed of three nested control loops. The outer loop exploits a robot…
In this paper, we develop a control framework for the coordination of multiple robots as they navigate through crowded environments. Our framework comprises of a local model predictive control (MPC) for each robot and a social long…
In this paper, we present a bilevel optimal motion planning (BOMP) model for autonomous parking. The BOMP model treats motion planning as an optimal control problem, in which the upper level is designed for vehicle nonlinear dynamics, and…
As the industry of autonomous driving grows, so does the potential interaction of groups of autonomous cars. Combined with the advancement of Artificial Intelligence and simulation, such groups can be simulated, and safety-critical models…
Optimal cruise control design can increase highway throughput and vehicle safety in traffic flow. In most heterogeneous platoons, the absence of vehicle-to-vehicle (V2V) communication poses challenges in maintaining system stability and…
The safety and security of robotic systems are paramount when navigating around a hostile target. This paper addresses the problem of circumnavigating an unknown target by a unicycle robot while ensuring it maintains a desired safe distance…
The problem of synchronization and balancing around simple closed polar curves is addressed for unicycle-type multi-agent systems. Leveraging the concept of barrier Lyapunov function in conjunction with bounded Lyapunov-like curve-phase…
In this article, we propose an optimization-based integrated behavior planning and motion control scheme, which is an interpretable and adaptable urban autonomous driving solution that complies with complex traffic rules while ensuring…
In this letter, Lyapunov-based synthesis of a PI-like controller is proposed for $\mathcal{L}_2$-stable motion control of an independently driven and steered four-wheel mobile robot. An explicit, structurally verified model is used to…
Robot navigation around humans can be a challenging problem since human movements are hard to predict. Stochastic model predictive control (MPC) can account for such uncertainties and approximately bound the probability of a collision to…
This paper presents a control law for stabilization and trajectory tracking of a multicopter subject to safety constraints. The proposed approach guarantees forward invariance of a prescribed safety set while ensuring smooth tracking…
Due to the enormous technological improvements obtained in the last decades it is possible to use robotic vehicles for underwater exploration. This work describes the development of a dynamic positioning system for remotely operated…
Autonomous parking (AP) is an emering technique to navigate an intelligent vehicle to a parking space without any human intervention. Existing AP methods based on mathematical optimization or machine learning may lead to potential failures…
Precise parking requires an end-to-end system where perception adaptively provides policy-relevant details - especially in critical areas where fine control decisions are essential. End-to-end learning offers a unified framework by directly…
In this paper, we propose a novel and distributed formation control method for autonomous robots to follow the desired formation while tracking a moving target in dynamic environments. In our approach, the desired formations, which include…
In this paper, we present an observation scheme, with proven Lyapunov stability, for estimating a humanoid's floating base orientation. The idea is to use velocity aided attitude estimation, which requires to know the velocity of the…