相关论文: A Fast Integrated Planning and Control Framework f…

Model Predictive Control (MPC) provides an optimal control solution based on a cost function while allowing for the implementation of process constraints. As a model-based optimal control technique, the performance of MPC strongly depends…

Policy search can in principle acquire complex strategies for control of robots and other autonomous systems. When the policy is trained to process raw sensory inputs, such as images and depth maps, it can also acquire a strategy that…

Many machine learning systems are built to solve the hardest examples of a particular task, which often makes them large and expensive to run---especially with respect to the easier examples, which might require much less computation. For…

Model-based policy optimization often struggles with inaccurate system dynamics models, leading to suboptimal closed-loop performance. This challenge is especially evident in Model Predictive Control (MPC) policies, which rely on the model…

Model predictive control (MPC) is widely used for motion planning, particularly in autonomous driving. Real-time capability of the planner requires utilizing convex approximation of optimal control problems (OCPs) for the planner. However,…

Robots executing iterative tasks in complex, uncertain environments require control strategies that balance robustness, safety, and high performance. This paper introduces a safe information-theoretic learning model predictive control…

Imitation learning (IL) is a simple and powerful way to use high-quality human driving data, which can be collected at scale, to produce human-like behavior. However, policies based on imitation learning alone often fail to sufficiently…

We propose an integrated control architecture to address the gap that currently exists for efficient real-time implementation of MPC-based control approaches for highly nonlinear systems with fast dynamics and a large number of control…

Self-evolution is indispensable to realize full autonomous driving. This paper presents a self-evolving decision-making system based on the Integrated Decision and Control (IDC), an advanced framework built on reinforcement learning (RL).…

In this research, we are going to design a neural nonlinear predictive functional controller (PFC) to achieve a reduced fuel consumption for a chosen autonomous car walks according to a supplied speed trajectory on known roads. We used a…

Planning safe trajectories under uncertain and dynamic conditions makes the autonomous driving problem significantly complex. Current sampling-based methods such as Rapidly Exploring Random Trees (RRTs) are not ideal for this problem…

Motion planning for autonomous driving (AD) faces a critical trade-off. While traditional rule-based pipelines offer verifiable safety and interpretability, they often fail to generalize in complex scenarios. Conversely, emerging…

Road congestion induces significant costs across the world, and road network disturbances, such as traffic accidents, can cause highly congested traffic patterns. If a planner had control over the routing of all vehicles in the network,…

Autonomous vehicles require highly sophisticated decision-making to determine their motion. This paper describes how such functionality can be achieved with a practical rule engine learned from expert driving decisions. We propose an…

In real-world problems, uncertainties (e.g., errors in the measurement, precision errors) often lead to poor performance of numerical algorithms when not explicitly taken into account. This is also the case for control problems, where…

Modern autonomous driving system is characterized as modular tasks in sequential order, i.e., perception, prediction, and planning. In order to perform a wide diversity of tasks and achieve advanced-level intelligence, contemporary…

Autonomous driving has a natural bi-level structure. The goal of the upper behavioural layer is to provide appropriate lane change, speeding up, and braking decisions to optimize a given driving task. However, this layer can only indirectly…

Model predictive control (MPC) is a popular approach for trajectory optimization in practical robotics applications. MPC policies can optimize trajectory parameters under kinodynamic and safety constraints and provide guarantees on safety,…

The high thermal efficiency and reliability of the compression-ignition engine makes it the first choice for many applications. For this to continue, a reduction of the pollutant emissions is needed. One solution is the use of machine…

Generating safe and non-conservative behaviors in dense, dynamic environments remains challenging for automated vehicles due to the stochastic nature of traffic participants' behaviors and their implicit interaction with the ego vehicle.…