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Automated Vehicle Path Following Control (PFC) is an advanced control system that can regulate the vehicle into a collision-free region in the presence of other objects on the road. Common collision avoidance functions, such as forward…
This paper proposes a Recurrent Neural Network (RNN) controller for lane-keeping systems, effectively handling model uncertainties and disturbances. First, quadratic constraints cover the nonlinearities brought by the RNN controller, and…
Modeling of nonlinear behaviors with physical-based models poses challenges. However, Koopman operator maps the original nonlinear system into an infinite-dimensional linear space to achieve global linearization of the nonlinear system…
Alternative Current Optimal Power Flow (AC-OPF) is essential for efficient power system planning and real-time operation but remains an NP-hard and non-convex optimization problem with significant computational challenges. This paper…
Among the promising approaches to enforce safety in control systems, learning Control Barrier Functions (CBFs) from expert demonstrations has emerged as an effective strategy. However, a critical challenge remains: verifying that the…
In this paper, we present conditions under which the terminal ingredients, defined by discrete-time control barrier function (DTCBF) certificates, guarantee recursive feasibility in nonlinear MPC. Further, we introduce the notion of…
Unmanned Surface Vehicles (USVs) are pivotal in marine exploration, but their sensors' accuracy is compromised by the dynamic marine environment. Traditional calibration methods fall short in these conditions. This paper introduces a deep…
Neural distance fields (NDF) have emerged as a powerful tool for addressing challenges in 3D computer vision and graphics downstream problems. While significant progress has been made to learn NDF from various kind of sensor data, a crucial…
Deep reinforcement learning is a technique for solving problems in a variety of environments, ranging from Atari video games to stock trading. This method leverages deep neural network models to make decisions based on observations of a…
Safe real-time control of robotic manipulators in unstructured environments requires handling numerous safety constraints without compromising task performance. Traditional approaches, such as artificial potential fields (APFs), suffer from…
Alternating Current Optimal Power Flow (AC-OPF) aims to optimize generator power outputs by utilizing the non-linear relationships between voltage magnitudes and phase angles in a power system. However, current AC-OPF solvers struggle to…
Constructing a control invariant set with an appropriate shape that fits within a given state constraint is a fundamental problem in safety-critical control but is known to be difficult, especially for large or complex spaces. This paper…
The black-box nature of Convolutional Neural Networks (CNNs) and their reliance on large datasets limit their use in complex domains with limited labeled data. Physics-Guided Neural Networks (PGNNs) have emerged to address these limitations…
This paper presents a new control barrier function (CBF) designed to improve the efficiency of collision avoidance for nonholonomic vehicles. Traditional CBFs typically rely on the shortest Euclidean distance to obstacles, overlooking the…
Endowing nonlinear systems with safe behavior is increasingly important in modern control. This task is particularly challenging for real-life control systems that must operate safely in dynamically changing environments. This paper…
In transportation cyber-physical systems (CPS), ensuring safety and reliability in real-time decision-making is essential for successfully deploying autonomous vehicles and intelligent transportation networks. However, these systems face…
Designing controllers that achieve task objectives while ensuring safety is a key challenge in control systems. This work introduces Opt-ODENet, a Neural ODE framework with a differentiable Quadratic Programming (QP) optimization layer to…
Accurate prediction of flow fields around underwater vehicles undergoing vertical-plane oblique motions is critical for hydrodynamic analysis, but it often requires computationally expensive CFD simulations. This study proposes a…
Pixel-level road crack detection has always been a challenging task in intelligent transportation systems. Due to the external environments, such as weather, light, and other factors, pavement cracks often present low contrast, poor…
This study presents an Actor-Critic reinforcement learning Compensated Model Predictive Controller (AC2MPC) designed for high-speed, off-road autonomous driving on deformable terrains. Addressing the difficulty of modeling unknown…