相关论文: Model Identification and Controller Parameter Opti…

Adaptive Cruise Control ACC can change the speed of the ego vehicle to maintain a safe distance from the following vehicle automatically. The primary purpose of this research is to use cutting-edge computing approaches to locate and track…

Model-based controllers using a linearized model around the system's equilibrium point is a common approach in the control of a wheeled humanoid due to their less computational load and ease of stability analysis. However, controlling a…

This paper introduces WOLF, a C++ estimation framework based on factor graphs and targeted at mobile robotics. WOLF can be used beyond SLAM to handle self-calibration, model identification, or the observation of dynamic quantities other…

Autonomous underwater vehicles (AUV) are commonly used in many underwater applications. Usually, inertial sensors and Doppler velocity log readings are used in a nonlinear filter to estimate the AUV navigation solution. The process noise…

In this paper, a continuous-time adaptive actor-critic reinforcement learning (RL) controller is developed for drift-free nonlinear systems. Practical examples of such systems are image-based visual servoing (IBVS) and wheeled mobile robots…

In this paper, a novel design scheme is introduced to solve the optimal control problem for nonlinear systems with unsymmetrical and state-dependent input constraints. By introducing an initial stabilizing control policy as the baseline of…

Physics simulations like computational fluid dynamics (CFD) are a computational bottleneck in computer-aided design (CAD) optimization processes. To overcome this bottleneck, one requires either an optimization framework that is highly…

This paper proposes a specialized autonomous driving system that takes into account the unique constraints and characteristics of automotive systems, aiming for innovative advancements in autonomous driving technology. The proposed system…

This paper introduces for the first time the design, modelling, and control of a novel morphing multi-rotor Unmanned Aerial Vehicle (UAV) that we call the OmniMorph. The morphing ability allows the selection of the configuration that…

We develop a hierarchical control architecture for autonomous docking maneuvers of a dynamic positioning vessel and provide formal safety guarantees. At the upper-level, we treat the vessel's desired surge, sway, and yaw velocities as…

Navigation precision, speed and stability are crucial for safe Unmanned Aerial Vehicle (UAV) flight maneuvers and effective flight mission executions in dynamic environments. Different flight missions may have varying objectives, such as…

This paper introduces CoralGuide, a novel framework designed for path planning and trajectory optimization for tethered multi-robot systems. We focus on marine robotics, which commonly have tethered configurations of an Autonomous Surface…

We designed and constructed an A-sized base autonomous underwater vehicle (AUV), augmented with a stack of modular and extendable hardware and software, including autonomy, navigation, control and high fidelity simulation capabilities…

Expansion of today's underwater scenarios and missions necessitates the requestion for robust decision making of the Autonomous Underwater Vehicle (AUV); hence, design an efficient decision making framework is essential for maximizing the…

Two new methods are presented for estimating car-following model parameters using data collected from the Adaptive Cruise Control (ACC) enabled vehicles. The vehicle is assumed to follow a constant time headway relative velocity model in…

Leak detection and water quality monitoring are requirements and challenging tasks in Water Distribution Systems (WDS). In-line robots are designed for this aim. In our previous work, we designed an in-pipe robot [1]. In this research, we…

Navigating autonomous underwater vehicles (AUVs) in unknown environments is significantly challenging due to poor visibility, weak signal transmission, and dynamic water currents. These factors pose challenges in accurate global…

This paper presents a novel algorithm, based on model predictive control (MPC), for the optimal guidance of a launch vehicle upper stage. The proposed strategy not only maximizes the performance of the vehicle and its robustness to external…

Many control policies used in various applications determine the input or action by solving a convex optimization problem that depends on the current state and some parameters. Common examples of such convex optimization control policies…

Autonomous unpowered flight is a challenge for control and guidance systems: all the energy the aircraft might use during flight has to be harvested directly from the atmosphere. We investigate the design of an algorithm that optimizes the…