相关论文: Trajectory Generation using Sharpness Continuous D…

This paper presents a smooth trajectory generation method for a four-degree-of-freedom parallel kinematic milling robot. The proposed approach integrates B-spline and Quaternion interpolation techniques to manage decoupled position and…

This paper presents a reachability-based approach to finite-time transition problem of nonlinear systems between two stationary points (i.e., the point-to-point steering problem). When the target state is reachable, we prove that a solution…

This paper addresses the problem of generating dynamically admissible trajectories for control tasks using diffusion models, particularly in scenarios where the environment is complex and system dynamics are crucial for practical…

This paper presents an algorithm for solving the problem of tracking smooth curves by a fixed wing unmanned aerial vehicle travelling with a constant airspeed and under a constant wind disturbance. The algorithm is based on the idea of…

Deep generative models such as conditional variational autoencoders (CVAEs) have shown great promise for predicting trajectories of surrounding agents in autonomous vehicle planning. State-of-the-art models have achieved remarkable accuracy…

Trajectory generation and trajectory prediction are two critical tasks in autonomous driving, which generate various trajectories for testing during development and predict the trajectories of surrounding vehicles during operation,…

Vehicle trajectory prediction is essential for enabling safety-critical intelligent transportation systems (ITS) applications used in management and operations. While there have been some promising advances in the field, there is a need for…

With the growth of the construction industry and the global shortage of skilled labor, the automation of crane control has become increasingly important for safe and efficient operations. A central challenge in automatic crane control is…

Sequential Convex Programming (SCP) has recently seen a surge of interest as a tool for trajectory optimization. However, most available methods lack rigorous performance guarantees and they are often tailored to specific optimal control…

The driving risk field is applicable to more complex driving scenarios, providing new approaches for safety decision-making and active vehicle control in intricate environments. However, existing research often overlooks the driving risk…

In this article, we address aquatic environmental monitoring using a fleet of unmanned surface vehicles (USVs). Specifically, we develop an online path generator that provides either circular or elliptic paths based on the real-time…

A method for trajectory smoothing for UAV reference path planning is presented. It is derived based on the dynamics of a Dubins airplane model, and involves a decoupling step, spatial modeling and linear programming. The decoupling step…

In recent years, end-to-end autonomous driving frameworks have been shown to not only enhance perception performance but also improve planning capabilities. However, most previous end-to-end autonomous driving frameworks have focused…

In this paper, we study spline trajectory generation via the solution of two optimisation problems: (i) a quadratic program (QP) with linear equality constraints and (ii) a nonlinear and nonconvex optimisation program. We propose an…

This paper proposes a new robust trajectory tracking error-based control approach for unmanned ground vehicles. A trajectory tracking error-based model is used to design a linear model predictive controller and its control action is…

In this study, we analyze the stability of a path-tracking controller designed for a four-wheel steering vehicle, incorporating the effects of the reference path curvature. By employing a simplified kinematic model of the vehicle with…

Path planning for wheeled mobile robots is a critical component in the field of automation and intelligent transportation systems. Car-like vehicles, which have non-holonomic constraints on their movement capability impose additional…

Usually, a controller for path- or trajectory tracking is employed in autonomous driving. Typically, these controllers generate high-level commands like longitudinal acceleration or force. However, vehicles with combustion engines expect…

The use of random sampling in decision-making and control has become popular with the ease of access to graphic processing units that can generate and calculate multiple random trajectories for real-time robotic applications. In contrast to…

We present a novel end-to-end diffusion-based trajectory generation method, DTG, for mapless global navigation in challenging outdoor scenarios with occlusions and unstructured off-road features like grass, buildings, bushes, etc. Given a…