相关论文: Adaptive Approach Phase Guidance for a Hypersonic …

This paper presents a global trajectory optimization framework for minimizing lap time in autonomous racing under uncertain vehicle dynamics. Optimizing the trajectory over the full racing horizon is computationally expensive, and tracking…

Many robotic systems are underactuated, meaning not all degrees of freedom can be directly controlled due to lack of actuators, input constraints, or state-dependent actuation. This property, compounded by modeling uncertainties and…

Modern unmanned systems, including aerial, terrestrial, and underwater vehicles, are increasingly utilized in dynamic and unpredictable environments, where the presence of modeling uncertainties necessitates the development of robust and…

Modern applications increasingly require unsupervised learning of latent dynamics from high-dimensional time-series. This presents a significant challenge of identifiability: many abstract latent representations may reconstruct…

This paper addresses efficient feasibility evaluation of possible emergency landing sites, online navigation, and path following for automatic landing under engine-out failure subject to turbulent weather. The proposed Multi-level Adaptive…

Reliable mechanical fault detection with limited data is crucial for the effective operation of induction machines, particularly given the real-world challenges present in industrial datasets, such as significant imbalances between healthy…

Adaptive control can be applied to robotic systems with parameter uncertainties, but improving its performance is usually difficult, especially under discontinuous friction. Inspired by the human motor learning control mechanism, an…

Making the right decision in traffic is a challenging task that is highly dependent on individual preferences as well as the surrounding environment. Therefore it is hard to model solely based on expert knowledge. In this work we use Deep…

Reinforcement Learning in domains with sparse rewards is a difficult problem, and a large part of the training process is often spent searching the state space in a more or less random fashion for any learning signals. For control problems,…

Efficient navigation in dynamic environments is crucial for autonomous robots interacting with moving agents and static obstacles. We present a novel deep reinforcement learning approach that improves robot navigation and interaction with…

In practice, imitation learning is preferred over pure reinforcement learning whenever it is possible to design a teaching agent to provide expert supervision. However, we show that when the teaching agent makes decisions with access to…

Pilots operating modern cockpits often face high cognitive demands due to complex interfaces and multitasking requirements, which can lead to overload and decreased performance. This study introduces AdaptiveCoPilot, a neuroadaptive…

Engineering a high-performance race car requires a direct consideration of the human driver using real-world tests or Human-Driver-in-the-Loop simulations. Apart from that, offline simulations with human-like race driver models could make…

While classical autonomous navigation systems can typically move robots from one point to another safely and in a collision-free manner, these systems may fail or produce suboptimal behavior in certain scenarios. The current practice in…

In order to autonomously learn to control unknown systems optimally w.r.t. an objective function, Adaptive Dynamic Programming (ADP) is well-suited to adapt controllers based on experience from interaction with the system. In recent years,…

This paper presents a robust path following control method for vehicles that explicitly considers steering resistance dynamics to improve tracking accuracy. Conventional methods typically treat the steering angle as a direct control input;…

To dynamically traverse challenging terrain, legged robots need to continually perceive and reason about upcoming features, adjust the locations and timings of future footfalls and leverage momentum strategically. We present a pipeline that…

Meta-learning stands for 'learning to learn' such that generalization to new tasks is achieved. Among these methods, Gradient-based meta-learning algorithms are a specific sub-class that excel at quick adaptation to new tasks with limited…

Unmanned aerial vehicles (UAVs) are promising for providing communication services due to their advantages in cost and mobility, especially in the context of the emerging Metaverse and Internet of Things (IoT). This paper considers a…

Hypersonic glide vehicles (HGVs) operate in challenging flight regimes characterized by strong nonlinearities in actuation and stringent physical constraints. These include state-dependent actuator limitations, asymmetric control bounds,…