Related papers: Design and Simulation of Vehicle Motion Tracking S…
This paper studies a rigid body attitude tracking control problem with attitude measurements only, when angular velocity measurements are not available. An angular velocity observer is constructed such that the estimated angular velocity is…
Fixed-wing vertical take-off and landing (VTOL) aircraft pose a unique control challenge that stems from complex aerodynamic interactions between wings and rotors. Thus, accurate estimation of external forces is indispensable for achieving…
A high-gain observer is used for a class of feedback linearisable nonlinear systems to synthesize safety-preserving controllers over the observer output. A bound on the distance between trajectories under state and output feedback is…
The safety monitoring for nonlinear dynamical systems with embedded neural network components is addressed in this paper. The interval-observer-based safety monitor is developed consisting of two auxiliary neural networks derived from the…
This paper develops a guidance law for nonlinear interception using input-output feedback linearization (IOL). The engagement between a pursuer and an evader is modeled using point-mass dynamics, and a baseline IOL-based guidance law is…
In order to increase the number of situations in which an intelligent vehicle can operate without human intervention, lateral control is required to accurately guide it in a reference trajectory regardless of the shape of the road or the…
We present an integrated approach for perception and control for an autonomous vehicle and demonstrate this approach in a high-fidelity urban driving simulator. Our approach first builds a model for the environment, then trains a policy…
This paper proposes a novel control law for accurate tracking of agile trajectories using a tailsitter flying wing unmanned aerial vehicle (UAV) that transitions between vertical take-off and landing (VTOL) and forward flight. The global…
Operational Modal Analysis (OMA) is a powerful tool, widely used in the fields of structural identification and health monitoring, and certainly eligible for identifying the real in-operation behaviour of vehicle systems. Several attempts…
Inertial Velocity-Aided Attitude (VAA), the estimation of the velocity and attitude of a vehicle using gyroscope, accelerometer, and inertial-frame velocity (e.g. GPS velocity) measurements, is an important problem in the control of…
A method of designing observers and observer-based tracking controllers is proposed for nonlinear systems on manifolds via embedding into Euclidean space and transversal stabilization. Given a system on a manifold, we first embed the…
Detecting and tracking vehicles in urban scenes is a crucial step in many traffic-related applications as it helps to improve road user safety among other benefits. Various challenges remain unresolved in multi-object tracking (MOT)…
In various applications of land vehicle navigation and automatic guidance systems, Global Navigation Satellite System/Inertial Measurement Unit (GNSS/IMU) positioning performance crucially depends on the attitude determination accuracy…
This paper considers a scenario of pursuing a moving target that may switch behaviors due to external factors in a dynamic environment by motion estimation using visual sensors. First, we present an improved Visual Motion Observer with…
This paper presents an approach that employs log-linearization in Lie group theory and the Newton-Euler equations to derive exact linear error dynamics for a multi-rotor model, and applies this model with a novel log-linear dynamic…
Designing controllers that simultaneously achieve strong performance and provable closed-loop stability remains a central challenge in control engineering. This work introduces a diffusion-based generative framework for linear controller…
We propose a method for automated synchronization of vehicle sensors useful for the study of multi-modal driver behavior and for the design of advanced driver assistance systems. Multi-sensor decision fusion relies on synchronized data…
Vision-based learning methods for self-driving cars have primarily used supervised approaches that require a large number of labels for training. However, those labels are usually difficult and expensive to obtain. In this paper, we…
The use of cameras for vehicle speed measurement is much more cost effective compared to other technologies such as inductive loops, radar or laser. However, accurate speed measurement remains a challenge due to the inherent limitations of…
A significant part of contemporary research in autonomous vehicles is dedicated to the development of safety critical systems where state-of-the-art artificial intelligence (AI) algorithms, like computer vision (CV), can play a major role.…