Related papers: Design and Simulation of Vehicle Motion Tracking S…
Estimation of road traffic is a fundamental problem which has been addressed with a variety of methods. In the present paper, a variant of the mobile observer method is proposed. It is assumed that some vehicles composing the road traffic…
Vehicle location prediction or vehicle tracking is a significant topic within connected vehicles. This task, however, is difficult if only a single modal data is available, probably causing bias and impeding the accuracy. With the…
In this article, the observer-based coordinated tracking control problem for a class of nonlinear multi-agent systems(MASs) with intermittent communication and information constraints is studied under dynamic switching topology. First, a…
Onboard visual sensing has been widely used in the unmanned ground vehicle (UGV) and/or unmanned aerial vehicle (UAV), which can be modeled as dynamic systems on SE(3). The onboard sensing outputs of the dynamic system can usually be…
In this paper, an exponentially stable trajectory tracking controller is proposed for multi-UAV payload transport. The multi-UAV payload system has a 2-DOF magnetic spherical joint between the UAVs and the vertical rigid links of the…
In dynamic environments, the ability to detect and track moving objects in real-time is crucial for autonomous robots to navigate safely and effectively. Traditional methods for dynamic object detection rely on high accuracy odometry and…
Precise motion control of underactuated surface vessels is a crucial task in various maritime applications. In this work, we develop a nonlinear motion control strategy for surface vessels inspired by the pursuit guidance philosophy. Any…
This paper studies the trajectory tracking and motion control problems for autonomous vehicles (AVs). A parameter adaptive control framework for AVs is proposed to enhance tracking accuracy and yaw stability. While establishing linear…
Friction is an unavoidable phenomenon that exists in all mechanical systems incorporating parts with relative motion. It is well-known that friction is a serious impediment for precise servo control, hence the interest to devise a procedure…
While the design of optimal peak-to-peak controllers/observers for linear systems is known to be a difficult problem, this problem becomes interestingly much easier in the context of interval observers because of the positive nature of the…
The development of autonomous vehicles provides an opportunity to have a complete set of camera sensors capturing the environment around the car. Thus, it is important for object detection and tracking to address new challenges, such as…
There is a great demand for vision-based robotics solutions that can operate using Global Positioning Systems (GPS), but are also robust against GPS signal loss and gyroscope failure. This paper investigates the estimation and tracking…
This paper presents a trajectory-tracking controller for multi-rotor unmanned aerial vehicles (UAVs) in scenarios where only the desired position and heading are known without the higher-order derivatives. The proposed solution modifies the…
We propose a new position control strategy for VTOL-UAVs using IMU and GPS measurements. Since there is no sensor that measures the attitude, our approach does not rely on the knowledge (or reconstruction) of the system orientation as…
Current autonomous driving systems often struggle to balance decision-making and motion control while ensuring safety and traffic rule compliance, especially in complex urban environments. Existing methods may fall short due to separate…
Overtaking on country roads with possible opposing traffic is a dangerous maneuver and many proposed assistant systems assume car-to-car communication and sensors currently unavailable in cars. To overcome this limitation, we develop an…
Object tracking has been broadly applied in unmanned aerial vehicle (UAV) tasks in recent years. However, existing algorithms still face difficulties such as partial occlusion, clutter background, and other challenging visual factors.…
In recent decades, due to the groundbreaking improvements in machine vision, many daily tasks are performed by computers. One of these tasks is multiple-vehicle tracking, which is widely used in different areas such as video surveillance…
When robots are able to see and respond to their surroundings, a whole new world of possibilities opens up. To bring these possibilities to life, the robotics industry is increasingly adopting camera-based vision systems, especially when a…
The security of Automated Vehicles (AVs) is an important emerging area of research in traffic safety. Methods have been published and evaluated in experimental vehicles to secure safe AV control in the presence of attacks, but human motion…