相关论文: Rack Force Estimation for Driving on Uneven Road S…

Wheeled bipedal robots are emerging as flexible platforms for field exploration. However, head instability induced by uneven terrain can degrade the accuracy of onboard sensors or damage fragile payloads. Existing research primarily focuses…

This study investigates the role of haptic feedback in a car-following scenario, where information about the motion of the front vehicle is provided through a virtual elastic connection with it. Using a robotic interface in a simulated…

Model-free reinforcement learning has recently been shown to successfully learn navigation policies from raw sensor data. In this work, we address the problem of learning driving policies for an autonomous agent in a high-fidelity…

Autonomous navigation of ground robots on uneven terrain is being considered in more and more tasks. However, uneven terrain will bring two problems to motion planning: how to assess the traversability of the terrain and how to cope with…

Turbines are crucial to our energy infrastructure, and ensuring their bearings function with minimal friction while often supporting heavy loads is vital. Vibrations within a bearing can signal the presence of defects, friction, or…

In below freezing winter conditions, road surface friction can greatly vary based on the mixture of snow, ice, and water on the road. Friction between the road and vehicle tyres is a critical parameter defining vehicle dynamics, and…

Physics-informed deep learning is a popular trend in the modeling and control of dynamical systems. This paper presents a novel method for rapid online identification of vehicle cornering stiffness coefficient, a crucial parameter in…

Adverse road conditions can cause vehicle yaw instability and loss of traction. To compensate for the instability under such conditions, corrective actions must be taken. In comparison to a mechanical differential, an electronic…

Robot mobility is critical for mission success, especially in soft or deformable terrains, where the complex wheel-soil interaction mechanics often leads to excessive wheel slip and sinkage, causing the eventual mission failure. To improve…

We investigate the conditions leading to large drag force fluctuations in granular materials. The study is based on a set of experimental drag tests, which involve pulling a plate vertically through a cohesionless granular material. In…

We measure the torque acting on a rod rotated perpendicular to its axis in a granular bed, through which an upflow of gas is utilized to tune the hydrostatic loading between grains. At low rotation rates the torque is independent of speed,…

Autonomous driving decision-making is a challenging task due to the inherent complexity and uncertainty in traffic. For example, adjacent vehicles may change their lane or overtake at any time to pass a slow vehicle or to help traffic flow.…

Despite their widespread use, current tire models have demonstrated a certain level of inaccuracy, primarily due to uncertainties related to unaccounted nonlinearity and disturbance effects resulting from tire operating conditions.…

Road accidents have significant economic and societal costs, with a small number of severe accidents accounting for a large portion of these costs. Predicting accident severity can help in the proactive approach to road safety by…

Forecasting is challenging since uncertainty resulted from exogenous factors exists. This work investigates the rank position forecasting problem in car racing, which predicts the rank positions at the future laps for cars. Among the many…

The concept of intelligent tires has drawn attention of researchers in the areas of autonomous driving, advanced vehicle control, and artificial intelligence. The focus of this paper is on intelligent tires and the application of machine…

A key challenge in off-road navigation is that even visually similar terrains or ones from the same semantic class may have substantially different traction properties. Existing work typically assumes no wheel slip or uses the expected…

Enabling high speed navigation of Unmanned Ground Vehicles (UGVs) in unknown rough terrain where limited or no information is available in advance requires the assessment of terrain in front of the UGV. Attempts have been made to predict…

Fracture of materials with rate-dependent mechanical behaviour, e.g. polymers, is a highly complex process. For an adequate modelling, the coupling between rate-dependent stiffness, dissipative mechanisms present in the bulk material and…

Road accidents are quite common in almost every part of the world, and, in majority, fatal accidents are attributed to over speeding of vehicles. The tendency to over speeding is usually tried to be controlled using check points at various…