Related papers: Multi-Modal Model Predictive Path Integral Control…
Vehicle roll control has been a well studied problem. One of the ubiquitous methods to mitigate vehicle rollover in the automobile industry is via a mechanical anti-roll bar. However with the advent of electric vehicles, rollover mitigation…
This paper presents a novel feedback method on the motion planning for unicycle robots in environments with static obstacles, along with an extension to the distributed planning and coordination in multi-robot systems. The method employs a…
Collision avoidance systems play a vital role in reducing the number of vehicle accidents and saving human lives. This paper extends the previous work using evolutionary neural networks for reactive collision avoidance. We are proposing a…
We study a novel principle for safe and efficient collision avoidance that adopts a mathematically elegant and general framework abstracting as much as possible from the controlled vehicle's dynamics and of its environment. Vehicle dynamics…
Navigating dense and dynamic environments poses a significant challenge for autonomous driving systems, owing to the intricate nature of multimodal interaction, wherein the actions of various traffic participants and the autonomous vehicle…
Autonomous driving is among the most promising of upcoming traffic safety technologies. Prototypes of autonomous vehicles are already being tested on public streets today. However, while current prototypes prove the feasibility of truly…
Merging into dense highway traffic for an autonomous vehicle is a complex decision-making task, wherein the vehicle must identify a potential gap and coordinate with surrounding human drivers, each of whom may exhibit diverse driving…
Autonomous vehicles can enhance overall performance and implement safety measures in ways that are impossible with conventional automobiles. These functions are executed through vehicle control systems, which have been the subject of…
This paper addresses the problem of motion planning for differential drive micro-mobility platforms. This class of vehicle is designed to perform small-distance transportation of passengers and goods in structured environments. Our approach…
To enable autonomous vehicles to perform discretionary lane change amidst the random traffic flow on highways, this paper introduces a decision-making and control method for vehicle lane change based on Model Predictive Control (MPC). This…
Vehicle trajectory planning is a key component for an autonomous driving system. A practical system not only requires the component to compute a feasible trajectory, but also a comfortable one given certain comfort metrics. Nevertheless,…
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…
Aerial robots can enhance construction site productivity by autonomously handling inspection and mapping tasks. However, ensuring safe navigation near human workers remains challenging. While navigation in static environments has been well…
Robots must make and break contact with the environment to perform useful tasks, but planning and control through contact remains a formidable challenge. In this work, we achieve real-time contact-implicit model predictive control with a…
End-to-end autonomous driving frameworks enable seamless integration of perception and planning but often rely on one-shot trajectory prediction, which may lead to unstable control and vulnerability to occlusions in single-frame perception.…
Robust motion planning is a well-studied problem in the robotics literature, yet current algorithms struggle to operate scalably and safely in the presence of other moving agents, such as humans. This paper introduces a novel framework for…
Lane change for autonomous vehicles (AVs) is an important but challenging task in complex dynamic traffic environments. Due to difficulties in guarantee safety as well as a high efficiency, AVs are inclined to choose relatively conservative…
This article proposes a novel control architecture using a centralized nonlinear model predictive control (CNMPC) scheme for controlling multiple micro aerial vehicles (MAVs). The control architecture uses an augmented state system to…
This article addresses the obstacle avoidance problem for setpoint stabilization and path-following tasks in complex dynamic 2D environments that go beyond conventional scenes with isolated convex obstacles. A combined motion planner and…
We design and experimentally evaluate a hybrid safe-by-construction collision avoidance controller for autonomous vehicles. The controller combines into a single architecture the respective advantages of an adaptive controller and a…