相关论文: 3-D Velocity Regulation for Nonholonomic Source Se…

Replacing the quadratic proximal penalty familiar from Hilbert spaces by an unbalanced optimal transport distance, we develop forward-backward type optimisation methods in spaces of Radon measures. We avoid the actual computation of the…

The ability of existing headway distributions to accurately reflect the diverse behaviors and characteristics in heterogeneous traffic (different types of vehicles) and mixed traffic (human-driven vehicles with autonomous vehicles) is…

As a core part of autonomous driving systems, motion planning has received extensive attention from academia and industry. However, real-time trajectory planning capable of spatial-temporal joint optimization is challenged by nonholonomic…

Extremum seeking control (ESC) often employs perturbation-based estimates of derivatives for some sensor field or cost function. These estimates are generally obtained by simply multiplying the output of a single-unit sensor by some…

We consider the problem of using location queries to monitor the congestion potential among a collection of entities moving, with bounded speed but otherwise unpredictably, in $d$-dimensional Euclidean space. Uncertainty in entity locations…

3D Multi-Object Tracking (MOT) captures stable and comprehensive motion states of surrounding obstacles, essential for robotic perception. However, current 3D trackers face issues with accuracy and latency consistency. In this paper, we…

The experiment proposed aims to evidence and to measure the deflection of light rays induced by the source speed upon emission, and to discern it from the aberration of light rays induced by the observer speed. The method stands in creating…

We present a lightweight, decentralized algorithm for navigating multiple nonholonomic agents through challenging environments with narrow passages. Our key idea is to allow agents to yield to each other in large open areas instead of…

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…

In this paper, a time-varying leader-follower formation control of nonholonomic mobile robots based on a trajectory tracking control strategy is considered. In the time-varying formation, the relative bearing and distance of each follower…

We consider the problem of bearing-based visual homing: Given a mobile robot which can measure bearing directions with respect to known landmarks, the goal is to guide the robot toward a desired "home" location. We propose a control law…

This paper proposes a strategy to estimate the velocity and position of neighbor agents using distance measurements only. Since with agents executing arbitrary motions, instantaneous distance-only measurements cannot provide enough…

The diffusion strategy for distributed learning from streaming data employs local stochastic gradient updates along with exchange of iterates over neighborhoods. In Part I [2] of this work we established that agents cluster around a network…

Motivated by applications in intelligent highway systems, the paper studies the problem of guiding mobile agents in a one-dimensional formation to their desired relative positions. Only coarse information is used which is communicated from…

Visual target navigation in unknown environments is a crucial problem in robotics. Despite extensive investigation of classical and learning-based approaches in the past, robots lack common-sense knowledge about household objects and…

Vision sensors are extensively used for localizing a robot's pose, particularly in environments where global localization tools such as GPS or motion capture systems are unavailable. In many visual navigation systems, localization is…

We propose a new design strategy for extremum seeking control for a multi-dimensional single-integrator system in the presence of local extrema. The proposed method employs suitably designed sinusoidal dither signals, which force the…

This paper presents a novel control protocol for robust distance-based formation control with prescribed performance in which agents are subjected to unknown external disturbances. Connectivity maintenance and collision avoidance among…

In this paper, we present a novel method to drive a nonlinear system to a desired state, with limited a priori knowledge of its dynamic model: local dynamics at a single point and the bounds on the rate of change of these dynamics. This…

Friction is an unavoidable phenomenon that exists in all mechanical systems incorporating parts with relative motion. It is well-known that friction is a serious impediment for precise servo control, hence the interest to devise a procedure…