相关论文: Cooperative Extended State Observer Based Control …
Multiple fixed-wing unmanned aerial vehicles (multi-UAVs) encounter significant challenges in cooperative path following over complex Digital Elevation Model (DEM) low-altitude airspace, including wind field disturbances, sudden obstacles,…
Shared Control methods often use impedance control to track target poses in a robotic manipulator. The guidance behavior of such controllers is shaped by the used stiffness gains, which can be varying over time to achieve an adaptive…
The adaptive distributed observer approach has been an effective tool for synthesizing a distributed control law for solving various control problems of leader-follower multiagent systems. However, the existing adaptive distributed observer…
In recent years, the distributed-observer-based distributed control law has shown powerful ability to arbitrarily approximate the centralized control performance. However, the traditional distributed observer requires each local observer to…
In a vehicular platoon, a lead vehicle that is responsible for managing the platoon's moving directions and velocity periodically disseminates control commands to following vehicles based on vehicle-to-vehicle communications. However,…
We propose a simple and effective method to derive the Fundamental Diagram (FD) from platoon vehicle trajectories. Average traffic state variables are computed using Edie's generalized definitions within time-dependent trapezoidal…
We study the problem of distributed traffic control in the partitioned plane, where the movement of all entities (robots, vehicles, etc.) within each partition (cell) is coupled. Establishing liveness in such systems is challenging, but…
This paper considers the problem of hub-based platoon coordination for a large-scale transport system, where trucks have individual utility functions to optimize. An event-triggered distributed model predictive control method is proposed to…
Cooperative Adaptive Cruise Control (CACC) enables vehicle platooning through inter-vehicle communication, improving traffic efficiency and safety. Conventional CACC relies on feedback linearization, assuming exact vehicle parameters;…
We derive optimal control policies for a Connected Automated Vehicle (CAV) and cooperating neighboring CAVs to carry out a lane change maneuver consisting of a longitudinal phase where the CAV properly positions itself relative to the…
We propose a fully data-driven, Koopman-based framework for statistically robust control of discrete-time nonlinear systems with linear embeddings. Establishing a connection between the Koopman operator and contraction theory, it offers…
Vehicle platooning with Cooperative Adaptive Cruise Control improves traffic efficiency, reduces energy consumption, and enhances safety but remains vulnerable to cyber-attacks that disrupt communication and cause unsafe actions. To address…
We consider platoons composed of identical vehicles with an asymmetric nearest-neighbor interaction. We restrict ourselves to intervehicular coupling realized with dynamic arbitrary-order onboard controllers such that the coupling to the…
Adaptive cruise control systems are fundamental components of the automation of the driving. At upper control level, ACC systems are based on car-following models determining the acceleration rate of a vehicle according to the distance gap…
This paper presents a layered control approach for real-time trajectory planning and control of robust cooperative locomotion by two holonomically constrained quadrupedal robots. A novel interconnected network of reduced-order models, based…
Knowledge-based leader-following synchronization of heterogeneous nonlinear multi-agent systems is a challenging problem since the leader's dynamic information is unknown to any follower node. This paper proposes a learning-based fully…
A continuous motion planning method for connected automated vehicles is considered for generating feasible trajectories in real-time using three consecutive clothoids. The proposed method reduces path planning to a small set of nonlinear…
Motivated by station-keeping applications in various unmanned settings, this paper introduces a steering control law for a pair of agents operating in the vicinity of a fixed beacon in a three-dimensional environment. This feedback law is a…
This paper studies a leader-follower formation tracking problem where the leaders are moving at the same unknown bounded velocity. A distance-based control law is proposed for follower agents to maintain the desired distances in the…
Ensuring safety is the most important factor in connected and autonomous vehicles, especially in emergency braking situations. As such, assessing the safety benefits of one information topology over other is a necessary step towards…