相关论文: Observable dynamics and coordinate systems for aut…
State estimation of oncoming vehicles: Earlier research has been based on determining states like position, velocity, orientation , angular velocity, etc of ego-vehicle. Our approach focuses on estimating the states of non-ego vehicles…
We study a trajectory tracking problem for a multi-rotor in the presence of modeling error and external disturbances. The desired trajectory is unknown and generated from a reference system with unknown or partially known dynamics. We…
Object tracking systems play important roles in tracking moving objects and overcoming problems such as safety, security and other location-related applications. Problems arise from the difficulties in creating a well-defined and…
In everyday life collaboration tasks between human operators and robots, the former necessitate simple ways for programming new skills, the latter have to show adaptive capabilities to cope with environmental changes. The joint use of…
In this paper, a combat Unmanned Air Vehicle (UAV) is modeled in the simulation environment. The rotary wing UAV is successfully performed various tasks such as locking on the targets, tracking, and sharing the relevant data with…
Using the context of trajectory estimation and tracking for multi-rotor unmanned aerial vehicles (UAVs), we explore the challenges in applying high-gain observers to highly dynamic systems. The multi-rotor will operate in the presence of…
This paper provides new results for a tracking control of the attitude dynamics of a rigid body. Both of the attitude dynamics and the proposed control system are globally expressed on the special orthogonal group, to avoid complexities and…
Mobile robot platforms are increasingly being used to automate information gathering tasks such as environmental monitoring. Efficient target tracking in dynamic environments is critical for applications such as search and rescue and…
This article proposes an active-learning-based adaptive trajectory tracking control method for autonomous ground vehicles to compensate for modeling errors and unmodeled dynamics. The nominal vehicle model is decoupled into lateral and…
Ecodriving guidance includes courses or suggestions for human drivers to improve driving behaviour, reducing energy use and emissions. This paper presents a systematic review of existing eco-driving guidance studies and identifies…
Motion planning for autonomous vehicles requires spatio-temporal motion plans (i.e. state trajectories) to account for dynamic obstacles. This requires a trajectory tracking control process which faithfully tracks planned trajectories. In…
This article is a technical report on the two different guidance systems based on vector fields that can be found in Paparazzi, a free sw/hw autopilot. Guiding vector fields allow autonomous vehicles to track paths described by the user…
A novel approach to detect road surface anomalies by visual tracking of a preceding vehicle is proposed. The method is versatile, predicting any kind of road anomalies, such as potholes, bumps, debris, etc., unlike direct observation…
In recent years, several progressive works promote the development of aerial tracking. One of the representative works is our previous work Fast-tracker which is applicable to various challenging tracking scenarios. However, it suffers from…
In normal on-road situations, autonomous vehicles will be expected to have smooth trajectories with relatively little demand on the vehicle dynamics to ensure passenger comfort and driving safety. However, the occurrence of unexpected…
Modeling and understanding the environment is an essential task for autonomous driving. In addition to the detection of objects, in complex traffic scenarios the motion of other road participants is of special interest. Therefore, we…
Most state-of-the-art works in trajectory forecasting for automotive target predicting the pose and orientation of the agents in the scene. This represents a particularly useful problem, for instance in autonomous driving, but it does not…
In this work, we utilize discrete geometric mechanics to derive a 2nd-order variational integrator so as to simulate rigid body dynamics. The developed integrator is to simulate the motion of a free rigid body and a quad-rotor. We…
Approximate dynamic programming has been investigated and used as a method to approximately solve optimal regulation problems. However, the extension of this technique to optimal tracking problems for continuous time nonlinear systems has…
Vehicular traffic is a classical example of a multi-agent system in which autonomous drivers operate in a shared environment. The article provides an overview of the state-of-the-art in microscopic traffic modeling and the implications for…