Related papers: Path Tracking with Dynamic Control Point Blending …
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…
Model-based control is a popular paradigm for robot navigation because it can leverage a known dynamics model to efficiently plan robust robot trajectories. However, it is challenging to use model-based methods in settings where the…
This paper proposes a novel real-time affordable solution to the trajectory tracking control problem for self-driving cars subject to longitudinal and steering angular velocity constraints. To this end, we develop a dual-mode Model…
We propose a learning-based trajectory tracking controller for autonomous robotic platforms whose motion can be described kinematically on $\mathrm{SE}(3)$. The controller is formulated in the dual quaternion framework and operates at the…
This paper addresses the lateral control of Autonomous & Connected Vehicles (ACVs) convoys during Emergency Lane Change (ELC) maneuvers. These maneuvers are initiated in response to emergency cues from either the front or rear of the…
Automated driving in urban settings is challenging. Human participant behavior is difficult to model, and conventional, rule-based Automated Driving Systems (ADSs) tend to fail when they face unmodeled dynamics. On the other hand, the more…
Multi-sensor fusion is essential for autonomous vehicle localization, as it is capable of integrating data from various sources for enhanced accuracy and reliability. The accuracy of the integrated location and orientation depends on the…
We consider a human-assisted autonomy sensor fusion for dynamic target localization in a Bayesian framework. Autonomous sensor-based tracking systems can suffer from observability and target detection failure. Humans possess valuable…
To achieve accurate contour tracking of robotic manipulators with dynamic uncertainties, coupling and actuator faults, an adaptive non-singular terminal sliding mode control (ANTSMC) based on cross-coupling is proposed. Firstly, the…
We study the navigation problem for a robot moving amidst static and dynamic obstacles and rely on a hierarchical approach to solve it. First, the reference trajectory is planned by the safe interval path planning algorithm that is capable…
This paper demonstrates the single-shot learning capabilities of retrospective cost optimization based data-driven control applied to learning multirotor controller gains for trajectory tracking. In particular, the proposed control approach…
This paper presents an adaptive lookahead pure-pursuit lateral controller for optimizing racing metrics such as lap time, average lap speed, and deviation from a reference trajectory in an autonomous racing scenario. We propose a greedy…
This paper presents an autonomous control framework for articulated boom cranes performing prefabricated block assembly in construction environments. The key challenge addressed is precise placement control under passive joint dynamics that…
This paper proposes a novel monitoring methodology for car-following control of automated vehicles that uses real-time measurements of spacing and velocity obtained through vehicle sensors. This study focuses on monitoring the time gap, a…
This paper presents a robust controller using a Linear Parameter Varying (LPV) model of the lane-keeping system with parameter reduction. Both varying vehicle speed and roll motion on a curved road influence the lateral vehicle model…
Pure Pursuit (PP) is widely used in autonomous racing for real-time path tracking due to its efficiency and geometric clarity, yet performance is highly sensitive to how key parameters-lookahead distance and steering gain-are chosen.…
To simply and effectively realize the trajectory tracking control of a bionic joint actuated by a single pneumatic artificial muscle (PAM), a cascaded control strategy is proposed based on the robust modeling method. Firstly, the…
This paper presents a model-based, adaptive, nonlinear controller for the bicopter stabilization and trajectory-tracking problem. The nonlinear controller is designed using the backstepping technique. Due to the non-invertibility of the…
In this work, we focus on the challenge of transferring an autonomous driving controller from simulation to the real world (i.e. Sim2Real). We propose a data-efficient method for online and on-the-fly adaptation of parametrizable control…
Vehicle platooning has been shown to be quite fruitful in the transportation industry to enhance fuel economy, road throughput, and driving comfort. Model Predictive Control (MPC) is widely used in literature for platoon control to achieve…