Related papers: A Scaled Three-Vehicle Platooning Platform
Iterative learning control has been successfully used for several decades to improve the performance of control systems that perform a single repeated task. Using information from prior control executions, learning controllers gradually…
The coordination of multiple autonomous vehicles into convoys or platoons is expected on our highways in the near future. However, before such platoons can be deployed, the new autonomous behaviors of the vehicles in these platoons must be…
In the last few years, researchers have applied machine learning strategies in the context of vehicular platoons to increase the safety and efficiency of cooperative transportation. Reinforcement Learning methods have been employed in the…
To enhance the ability for vehicle platoons to respond to emergency scenarios, a platoon distribution reorganization decision-making framework is proposed. This framework contains platoon distribution layer, vehicle cooperative…
Distributed model predictive control (MPC) is currently being investigated as a solution to the important control challenge presented by networks of hybrid dynamical systems. However, a benchmark problem for distributed hybrid MPC is absent…
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…
Autonomous driving is achieved by controlling the coupled nonlinear longitudinal and lateral vehicle dynamics. Longitudinal control greatly affects lateral dynamics and must preserve lateral stability conditions, while lateral controllers…
While engaging with the unfolding revolution in autonomous driving, a challenge presents itself, how can we effectively raise awareness within society about this transformative trend? While full-scale autonomous driving vehicles often come…
This paper proposes a control solution to achieve collision-free platooning control of input-constrained mobile robots. The platooning policy is based on a leader-follower approach where the leader tracks a reference trajectory while…
Multi-Target Multi-Camera (MTMC) vehicle tracking is an essential task of visual traffic monitoring, one of the main research fields of Intelligent Transportation Systems. Several offline approaches have been proposed to address this task;…
In a vehicular platoon, a lead vehicle that is responsible for managing the platoon's moving directions and velocity periodically disseminates control commands to following vehicles based on vehicle-to-vehicle communications. However,…
Humanoid robots are increasingly demanded to operate in interactive and human-surrounded environments while achieving sophisticated locomotion and manipulation tasks. To accomplish these tasks, roboticists unremittingly seek for advanced…
Path tracking system plays a key technology in autonomous driving. The system should be driven accurately along the lane and be careful not to cause any inconvenience to passengers. To address such tasks, this paper proposes hybrid tracker…
Platooning connected and autonomous vehicles (CAVs) can improve traffic and fuel efficiency. However, scalable platooning operations require junction-level coordination, which has not been well studied. In this paper, we study the…
Autonomous racing provides a controlled environment for testing the software and hardware of autonomous vehicles operating at their performance limits. Competitive interactions between multiple autonomous racecars however introduce…
Highway pilot assist has become the front line of competition in advanced driver assistance systems. The increasing requirements on safety and user acceptance are calling for personalization in the development process of such systems.…
The cooperative control applied to vehicles allows the optimization of traffic on the roads. There are many aspects to consider in the case of the operation of autonomous vehicles on highways since there are different external parameters…
Recently, there have been many advances in autonomous driving society, attracting a lot of attention from academia and industry. However, existing works mainly focus on cars, extra development is still required for self-driving truck…
We propose a scalable cooperative control approach which coordinates a group of rigidly connected autonomous surface vessels to track desired trajectories in a planar water environment as a single floating modular structure. Our approach…
The controller is one of the most important modules in the autonomous driving pipeline, ensuring the vehicle reaches its desired position. In this work, a reinforcement learning based lateral control approach, despite the imperfections in…