相关论文: TS-MPC for Autonomous Vehicle using a Learning App…

Motion Cueing Algorithms (MCAs) encode the movement of simulated vehicles into movement that can be reproduced with a motion simulator to provide a realistic driving experience within the capabilities of the machine. This paper introduces a…

One major issue in learning-based model predictive control (MPC) for autonomous driving is the contradiction between the system model's prediction accuracy and computation efficiency. The more situations a system model covers, the more…

Trajectory planning in dense, interactive traffic scenarios presents significant challenges for autonomous vehicles, primarily due to the uncertainty of human driver behavior and the non-convex nature of collision avoidance constraints.…

With the increasing adoption of plug-in electric vehicles (PEVs), it is critical to develop efficient charging coordination mechanisms that minimize the cost and impact of PEV integration to the power grid. In this paper, we consider the…

Improving endurance is crucial for extending the spatial and temporal operation range of autonomous underwater vehicles (AUVs). Considering the hardware constraints and the performance requirements, an intelligent energy management system…

To ensure user acceptance of autonomous vehicles (AVs), control systems are being developed to mimic human drivers from demonstrations of desired driving behaviors. Imitation learning (IL) algorithms serve this purpose, but struggle to…

Robotic tasks which involve uncertainty--due to variation in goal, environment configuration, or confidence in task model--may require human input to instruct or adapt the robot. In tasks with physical contact, several existing methods for…

Trajectory prediction modules are key enablers for safe and efficient planning of autonomous vehicles (AVs), particularly in highly interactive traffic scenarios. Recently, learning-based trajectory predictors have experienced considerable…

Model predictive control (MPC) is a powerful control method that handles dynamical systems with constraints. However, solving MPC iteratively in real time, i.e., implicit MPC, remains a computational challenge. To address this, common…

In this paper we present a framework for risk-sensitive model predictive control (MPC) of linear systems affected by stochastic multiplicative uncertainty. Our key innovation is to consider a time-consistent, dynamic risk evaluation of the…

This paper proposes a new strategy for collision avoidance system leveraging Time-to-Collision (TTC) metrics for handling cut-in scenarios, which are particularly challenging for autonomous vehicles (AVs). By integrating a deep learning…

Uncertainties in the environment and behavior model inaccuracies compromise the state estimation of a dynamic obstacle and its trajectory predictions, introducing biases in estimation and shifts in predictive distributions. Addressing these…

Automated driving at unsignalized intersections is challenging due to complex multi-vehicle interactions and the need to balance safety and efficiency. Model Predictive Control (MPC) offers structured constraint handling through…

In this paper we present a convex formulation of the Model Predictive Control (MPC) optimisation for energy management in hybrid electric vehicles, and an Alternating Direction Method of Multipliers (ADMM) algorithm for its solution. We…

Tiny aerial robots hold great promise for applications such as environmental monitoring and search-and-rescue, yet face significant control challenges due to limited onboard computing power and nonlinear dynamics. Model Predictive Control…

Sampling-based model predictive control (MPC) has the potential for use in a wide variety of robotic systems. However, its unstable updates and poor convergence render it unsuitable for real-time control of robotic systems. This study…

We consider the problem of interaction-aware motion planning for automated vehicles in general traffic situations. We model the interaction between the controlled vehicle and surrounding road users using a generalized potential game, in…

In this paper, a guidance and tracking control strategy for fixed-wing Unmanned Aerial Vehicle (UAV) autopilots is presented. The proposed control exploits recent results on sample-based stochastic Model Predictive Control, which allow…

This work proposes an end-to-end multi-modal reinforcement learning framework for high-level decision-making in autonomous vehicles. The framework integrates heterogeneous sensory input, including camera images, LiDAR point clouds, and…

The aim of this work is to control the longitudinal position of an autonomous vehicle with an internal combustion engine. The powertrain has an inherent dead-time characteristic and constraints on physical states apply since the vehicle is…