相关论文: Model Identification and Controller Parameter Opti…
This paper proposes a method for formation path following control of a fleet of underactuated autonomous underwater vehicles. The proposed method combines several hierarchic tasks in a null space-based behavioral algorithm to safely guide…
We present a flow-matching planner for autonomous driving that directly outputs actionable control trajectories defined by acceleration and curvature profiles. The model is conditioned on a bird's-eye-view (BEV) raster of the surrounding…
Autonomous vehicle software is typically structured as a modular pipeline of individual components (e.g., perception, prediction, and planning) to help separate concerns into interpretable sub-tasks. Even when end-to-end training is…
The development of novel autonomous underwater gliders has been hindered by limited shape diversity, primarily due to the reliance on traditional design tools that depend heavily on manual trial and error. Building an automated design…
A new model-free setting and the corresponding "intelligent" P and PD controllers are employed for the longitudinal and lateral motions of a vehicle. This new approach has been developed and used in order to ensure simultaneously a best…
Underwater vehicles are employed in the exploration of dynamic environments where tuning of a specific controller for each task would be time-consuming and unreliable as the controller depends on calculated mathematical coefficients in…
This paper presents a novel two-level control architecture for a fully autonomous vehicle in a deterministic environment, which can handle traffic rules as specifications and low-level vehicle control with real-time performance. At the top…
Safety validation for Level 4 autonomous vehicles (AVs) is currently bottlenecked by the inability to scale the detection of rare, high-risk long-tail scenarios using traditional rule-based heuristics. We present Deep-Flow, an unsupervised…
A Learning Model Predictive Controller (LMPC) is presented and tailored to platooning and Connected Autonomous Vehicles (CAVs) applications. The proposed controller builds on previous work on nonlinear LMPC, adapting its architecture and…
A compact and efficient numerical method is described for studying plane flows of an ideal fluid with a smooth free boundary over a curved and nonuniformly moving bottom. Exact equations of motion in terms of the so-called conformal…
In this study, a single autonomous underwater vehicle (AUV) aims to rendezvous with a submerged leader recovery vehicle through a cluttered and variable operating field. The rendezvous problem is transformed into a nonlinear optimal control…
Driver assistance systems support drivers in operating vehicles in a safe, comfortable and efficient way, and thus may induce changes in traffic flow characteristics. This paper puts forward a receding horizon control framework to model…
Improved designs for Autonomous Underwater Vehicles (AUV) are becoming increasingly important due to their utility in academic and industrial applications. However, a majority of such testing and design is carried out under conditions that…
Coupling-Tiltable Unmanned Aerial-Aquatic Vehicles (UAAVs) have gained increasing importance, yet lack comprehensive analysis and suitable controllers. This paper analyzes the underwater motion characteristics of a self-designed UAAV,…
This paper presents our submission to the COOOL competition, a novel benchmark for detecting and classifying out-of-label hazards in autonomous driving. Our approach integrates diverse methods across three core tasks: (i) driver reaction…
In various interaction tasks using Underwater Vehicle Manipulator Systems (UVMSs) (e.g. sampling of the sea organisms, underwater welding), important factors such as: i) uncertainties and complexity of UVMS dynamic model ii) external…
The underwater environment poses a complex problem for developing autonomous capabilities for Underwater Vehicle Manipulator Systems (UVMSs). The modeling of UVMSs is a complicated and costly process due to the highly nonlinear dynamics and…
Autonomous underwater vehicles (AUVs) are essential for marine exploration and research. However, conventional designs often struggle with limited maneuverability in complex, dynamic underwater environments. This paper introduces an…
This article presents a collaborative research effort aimed at developing a novel six-degree-of-freedom (6-DOF) motion platform for the empirical characterization of hydrodynamic forces crucial for the control and stability of surface and…
An adjoint based technique is applied to a shallow water model in order to estimate the influence of the model's parameters on the solution. Among parameters the bottom topography, initial conditions, boundary conditions on rigid…