相关论文: NMPC trajectory planner for urban autonomous drivi…
This paper demonstrates the applicability of the safe model predictive control (SMPC) framework to autonomous driving scenarios, focusing on the design of adaptive cruise control (ACC) and automated lane-change systems. Building on the SMPC…
This article addresses obstacle avoidance motion planning for autonomous vehicles, specifically focusing on highway overtaking maneuvers. The control design challenge is handled by considering a mathematical vehicle model that captures both…
This paper introduces a new multi-model predictive control (MMPC) method for quadrotor attitude control with performance nearly on par with nonlinear model predictive control (NMPC) and computational efficiency similar to linear model…
This paper proposes an optimization-based approach to predict trajectories of autonomous race cars. We assume that the observed trajectory is the result of an optimization problem that trades off path progress against acceleration and jerk…
We propose a nonlinear model predictive control (NMPC) framework based on a direct optimal control method that ensures continuous-time constraint satisfaction and accurate evaluation of the running cost, without compromising computational…
A computationally efficient nonlinear Model Predictive Control (NMPC) algorithm is proposed for safe learning-based control with a system model represented by an incompletely known affine combination of basis functions and subject to…
An approach to resilient planning and control of autonomous vehicles in multi-vehicle traffic scenarios is proposed. The proposed method is based on model predictive control (MPC), where alternative predictions of the surrounding traffic…
The robotics community is increasingly interested in autonomous aerial transportation. Unmanned aerial vehicles with suspended payloads have advantages over other systems, including mechanical simplicity and agility, but pose great…
In this paper, we introduce a learning-based vision dynamics approach to nonlinear model predictive control for autonomous vehicles, coined LVD-NMPC. LVD-NMPC uses an a-priori process model and a learned vision dynamics model used to…
The widespread application of autonomous driving technology has significantly advanced the field of autonomous racing. Model Predictive Contouring Control (MPCC) is a highly effective local trajectory planning method for autonomous racing.…
Vehicle platooning has been shown to be quite fruitful in the transportation industry to enhance fuel economy, road throughput, and driving comfort. Model Predictive Control (MPC) is widely used in literature for platoon control to achieve…
This paper focuses on the trajectory tracking control problem for an articulated unmanned ground vehicle. We propose and compare two approaches in terms of performance and computational complexity. The first uses a nonlinear mathematical…
The task of maneuvering a multi-steered articulated vehicle in confined environments is difficult even for experienced drivers. In this work, we present an optimization-based trajectory planner targeting low-speed maneuvers in unstructured…
This paper presents a novel algorithm, based on model predictive control (MPC), for the optimal guidance of a launch vehicle upper stage. The proposed strategy not only maximizes the performance of the vehicle and its robustness to external…
We present a new algorithm for model predictive control of non-linear systems with respect to multiple, conflicting objectives. The idea is to provide a possibility to change the objective in real-time, e.g.~as a reaction to changes in the…
Efficient trajectory planning for urban intersections is currently one of the most challenging tasks for an Autonomous Vehicle (AV). Courteous behavior towards other traffic participants, the AV's comfort and its progression in the…
In this paper, we propose a trajectory optimization for computing smooth collision free trajectories for nonholonomic curvature bounded vehicles among static and dynamic obstacles. One of the key novelties of our formulation is a hierarchal…
In this paper, we present a stabilizing Nonlinear Model Predictive Control (NMPC) scheme tailored for a class of nonholonomic systems with drift, where the acceleration is laterally restrained. Examples include a mobile robot with drifting…
This paper proposes a Model Predictive Control (MPC) algorithm for target tracking amongst static and dynamic obstacles. Our main contribution lies in improving the computational tractability and reliability of the underlying non-convex…
This article proposes an approach for collision avoidance, path following, and anti-grounding of autonomous surface vessels under consideration of environmental forces based on Nonlinear Model Predictive Control (NMPC). Artificial Potential…