Related papers: Integrated Guidance and Control for Path-Following…
Avoiding hybrid obstacles in unknown scenarios with an efficient flight strategy is a key challenge for unmanned aerial vehicle applications. In this paper, we introduce a more robust technique to distinguish and track dynamic obstacles…
In this work, we investigate the state stabilization and trajectory tracking problems of underactuated surface ships with full state model of having non-diagonal inertia and damping matrices. By combining the novel state transformations,…
This paper addresses planning and control of robot motion under uncertainty that is formulated as a continuous-time, continuous-space stochastic optimal control problem, by developing a topology-guided path integral control method. The path…
This paper presents a nonlinear control law for the stabilization of a fixed-wing UAV. Such controller solves the path-following problem and the longitudinal control problem in a single control. Furthermore, the control design is performed…
We present a target-driven navigation system to improve mapless visual navigation in indoor scenes. Our method takes a multi-view observation of a robot and a target as inputs at each time step to provide a sequence of actions that move the…
This paper presents a method for path-following for quadcopter trajectories in real time. Non-Linear Guidance Logic is used to find the intercepts of the subsequent destination. Trajectory tracking is implemented by formulating the…
This paper addresses the time-constrained interception of targets at a predetermined time with bounded field-of-view capability of the seeker-equipped interceptors. We propose guidance laws using the effective lead angle and velocity lead…
In the context of autonomous navigation, effectively conveying abstract navigational cues to agents in dynamic environments presents significant challenges, particularly when navigation information is derived from diverse modalities such as…
Haptic guidance in a shared steering assistance system has drawn significant attention in intelligent vehicle fields, owing to its mutual communication ability for vehicle control. By exerting continuous torque on the steering wheel, both…
A control optimization approach is presented for a chaser spacecraft tasked with maintaining proximity to a target space object while avoiding collisions. The target object trajectory is provided numerically to account for both passive…
Path following and lateral stability are crucial issues for autonomous vehicles. Moreover, these problems increase in complexity when handling articulated heavy-duty vehicles due to their poor manoeuvrability, large sizes and mass…
Single-lane car-following is a fundamental task in autonomous driving. A desirable car-following controller should keep a reasonable range of distances to the preceding vehicle and do so as smoothly as possible. To achieve this, numerous…
This work presents the first closed-loop control framework for cooperative payload transportation with non-stopping flying carriers. The proposed method includes a feedback wrench-controller that actively regulates the load's pose by…
This paper presents an integrated path planning and tracking control of marine hydrokinetic energy harvesting devices. To address the highly nonlinear and uncertain oceanic environment, the path planner is designed based on a reinforcement…
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…
This paper investigates the problem of straight-line path following for magnetic helical microswimmers. The control objective is to make the helical microswimmer to converge to a straight line without violating the step-out frequency…
Compensating for slip and skid is crucial for mobile robots navigating outdoor terrains. In these challenging environments, slipping and skidding introduce uncertainties into trajectory tracking systems, potentially compromising the safety…
This paper presents the comparison of two non-linear model-based control strategies for autonomous cars. A control oriented model of vehicle based on a bicycle model is used. The two control strategies use a model reference approach. Using…
The paper addresses the problem of controller synthesis for control-affine nonlinear systems to meet reach-avoid-stay specifications. Specifically, the goal of the research is to obtain a closed-form control law ensuring that the…
It is widely acknowledged that drivers should remain in the control loop of automated vehicles before they completely meet real-world operational conditions. This paper introduces an `indirect shared control' scheme for steer-by-wire…