相关论文: Optimal speed profile on a given road for motion s…
Road safety remains a critical challenge worldwide, with approximately 1.35 million fatalities annually attributed to traffic accidents, often due to human errors. As we advance towards higher levels of vehicle automation, challenges still…
The recent advancement in vehicular networking technology provides novel solutions for designing intelligent and sustainable vehicle motion controllers. This work addresses a car-following task, where the feedback linearisation method is…
The paper presents a strategy for the control of anautonomous racing car on a pre-mapped track. Using a dynamic model of the vehicle, the optimal racing line is computed, taking track boundaries into account. With the optimal racing line as…
Many robotics domains use some form of nonconvex model predictive control (MPC) for planning, which sets a reduced time horizon, performs trajectory optimization, and replans at every step. The actual task typically requires a much longer…
To be applicable to real world scenarios trajectory planning schemes for mobile autonomous systems must be able to efficiently deal with obstacles in the area of operation. In the context of optimization based trajectory planning and…
Understanding the probabilistic traffic environment is a vital challenge for the motion planning of autonomous vehicles. To make feasible control decisions, forecasting future trajectories of adjacent cars is essential for intelligent…
In automated driving, risk describes potential harm to passengers of an autonomous vehicle (AV) and other road users. Recent studies suggest that human-like driving behavior emerges from embedding risk in AV motion planning algorithms.…
This paper presents a framework for fast and robust motion planning designed to facilitate automated driving. The framework allows for real-time computation even for horizons of several hundred meters and thus enabling automated driving in…
In pedestrian-dense traffic scenarios, an autonomous vehicle may have to safely drive through a crowd of pedestrians while the vehicle tries to keep the desired speed as much as possible. This requires a model that can predict the motion of…
Our aim is to present a new model which encompasses pace optimization and motor control effort for a runner on a fixed distance. We see that for long races, the long term behaviour is well approximated by a turnpike problem. We provide…
We consider the escape interdiction problem in a transportation network. In the absence of traffic in the network, the criminal/attacker tries to escape from the city using any of the shortest paths from the crime scene to any randomly…
Nowadays high speed machining (HSM) machine tool combines productivity and part quality. So mould and die maker invested in HSM. Die and mould features are more and more complex shaped. Thus, it is difficult to choose the best machining…
Motion planning is a fundamental component in automated vehicles. It influences the comfort and time efficiency of the ride. Despite a vast collection of studies working towards improving motion comfort in self-driving cars, little…
In the real-time decision-making and local planning process of autonomous vehicles in dynamic environments, the autonomous driving system may fail to find a reasonable policy or even gets trapped in some situation due to the complexity of…
Planning collision-free paths for multi-robot systems (MRS) is a challenging problem because of the safety and efficiency constraints required for real-world solutions. Even though coupled path planning approaches provide optimal…
The sudden appearance of a static obstacle on the road, i.e. the moose test, is a well-known emergency scenario in collision avoidance for automated driving. Model Predictive Control (MPC) has long been employed for planning and control of…
Navigating narrow roads with oncoming vehicles is a significant challenge that has garnered considerable public interest. These scenarios often involve sections that cannot accommodate two moving vehicles simultaneously due to the presence…
We consider the optimal control problem of steering an agent population to a desired distribution over an infinite horizon. This is an optimal transport problem over a dynamical system, which is challenging due to its high computational…
This work develops a robust nonlinear Model Predictive Control (MPC) framework for path tracking in autonomous vehicles operating at the limits of handling utilizing a Control Contraction Metric (CCM) derived from a perturbed dynamic single…
This paper presents a unified framework for the evaluation and optimization of autonomous vehicle trajectories, integrating formal safety, comfort, and efficiency criteria. An innovative geometric indicator, based on the analysis of safety…