相关论文: Quarter and Full Car Models Optimisation of Passiv…
This paper presents a modeling framework to optimize the two-dimensional placement of powertrain elements inside the vehicle, explicitly accounting for the rotation, relative placement and alignment. Specifically, we first capture the…
Automated vehicles are deemed to be the key element for the intelligent transportation system in the future. Many studies have been made to improve the Automated vehicles' ability of environment recognition and vehicle control, while the…
This paper addresses modeling and control of a six-degree-of-freedom unmanned aerial vehicle capable of vertical take-off and landing in the presence of wind disturbances. We design a hybrid vehicle that combines the benefits of both the…
This paper presents the design a Proportional-Integral-Derivative (PID) controller with optimized parameters for a two-degree-of-freedom robotic arm. A genetic algorithm (GA) is proposed to optimize the controller parameters, addressing the…
We present a concept of constrained collaborative mobile agents (CCMA) system, which consists of multiple wheeled mobile agents constrained by a passive kinematic chain. This mobile robotic system is modular in nature, the passive kinematic…
We study the optimization of large-scale, real-time ridesharing systems and propose a modular design methodology, Component Algorithms for Ridesharing (CAR). We evaluate a diverse set of CARs (14 in total), focusing on the key algorithmic…
The car-following behavior of individual drivers in real city traffic is studied on the basis of (publicly available) trajectory datasets recorded by a vehicle equipped with an radar sensor. By means of a nonlinear optimization procedure…
Autonomous cars can reduce road traffic accidents and provide a safer mode of transport. However, key technical challenges, such as safe navigation in complex urban environments, need to be addressed before deploying these vehicles on the…
We design and experimentally evaluate a hybrid safe-by-construction collision avoidance controller for autonomous vehicles. The controller combines into a single architecture the respective advantages of an adaptive controller and a…
This paper presents a novel methodology to enforce motion safety guarantees even in the event of a sudden loss of control capabilities by any agent within a multi-agent system. This passive safety methodology permits the replacement of…
In this report, linear quadratic regulator is used to design adaptive cruise control system. In the regulator, Q and R parameters vary with time according to current traffic situations. Phase-plant method is used to give constraints on Q…
Autonomous off-road driving is challenging as risky actions taken by the robot may lead to catastrophic damage. As such, developing controllers in simulation is often desirable as it provides a safer and more economical alternative.…
Semi-autonomous vehicles are increasingly serving critical functions in various settings from mining to logistics to defence. A key characteristic of such systems is the presence of the human (drivers) in the control loop. To ensure safety,…
We introduce a novel co-design method for autonomous moving agents' shape attributes and locomotion by combining deep reinforcement learning and evolution with user control. Our main inspiration comes from evolution, which has led to wide…
This paper deals with the development of a handling-oriented stiffness control strategy using multichamber suspensions. Indeed, being this technology capable of stiffness variability, it is particularly indicated for improving the vehicle…
Automated driving system - dedicated vehicles (ADS-DVs), specially designed for people with various disabilities, can be beneficial to improve their mobility. However, research related to autonomous vehicles (AVs) for people with cognitive…
Collision avoidance systems play a vital role in reducing the number of vehicle accidents and saving human lives. This paper extends the previous work using evolutionary neural networks for reactive collision avoidance. We are proposing a…
The quadrotor unmanned aerial vehicle is a great platform for control systems research as its nonlinear nature and under-actuated configuration make it ideal to synthesize and analyze control algorithms. After a brief explanation of the…
Despite rapid advances in autonomous driving technology, current autonomous vehicles (AVs) lack effective bidirectional human-machine communication, limiting their ability to personalize the riding experience and recover from uncertain or…
This article presents a composite nonlinear feedback (CNF) control method using self-triggered (ST) adaptive dynamic programming (ADP) algorithm in a human-machine shared steering framework. For the overall system dynamics, a…