相关论文: Improving gearshift controllers for electric vehic…

Reference tracking systems involve a plant that is stabilized by a local feedback controller and a command center that indicates the reference set-point the plant should follow. Typically, these systems are subject to limitations such as…

Learning interactive motion behaviors among multiple agents is a core challenge in autonomous driving. While imitation learning models generate realistic trajectories, they often inherit biases from datasets dominated by safe…

Two of the most important aspects of electric vehicles are their efficiency or achievable range. In order to achieve high efficiency and thus a long range, it is essential to avoid over-dimensioning the drive train. Therefore, the drive…

Mobile robotic systems are becoming increasingly popular. These systems are used in various indoor applications, raging from warehousing and manufacturing to test benches for assessment of advanced control strategies, such as artificial…

We propose a model-free reinforcement learning method for controlling mixed autonomy traffic in simulated traffic networks with through-traffic-only two-way and four-way intersections. Our method utilizes multi-agent policy decomposition…

In this work, we investigate how implicit neural feed back can accelerate reinforcement learning in complex robotic manipulation settings. While prior electroencephalogram (EEG) guided reinforcement learning studies have primarily focused…

In this paper, we revisit the problem of learning a stabilizing controller from a finite number of demonstrations by an expert. By first focusing on feedback linearizable systems, we show how to combine expert demonstrations into a…

Deep model-based reinforcement learning methods offer a conceptually simple approach to the decision-making and control problem: use learning for the purpose of estimating an approximate dynamics model, and offload the rest of the work to…

This paper introduces an automatic control method designed to enhance the operation of electric vehicles, besides the speed tracking objectives, by including reliability and lifetime requirements. The research considers an automotive power…

Quadrotor stabilizing controllers often require careful, model-specific tuning for safe operation. We use reinforcement learning to train policies in simulation that transfer remarkably well to multiple different physical quadrotors. Our…

Embedded systems have proliferated in various consumer and industrial applications with the evolution of Cyber-Physical Systems and the Internet of Things. These systems are subjected to stringent constraints so that embedded software must…

Reinforcement learning is a powerful technique for developing new robot behaviors. However, typical lack of safety guarantees constitutes a hurdle for its practical application on real robots. To address this issue, safe reinforcement…

Designing optimal controllers continues to be challenging as systems are becoming complex and are inherently nonlinear. The principal advantage of reinforcement learning (RL) is its ability to learn from the interaction with the environment…

This paper presents a framework to jointly optimize the design and control of an electric race car equipped with a multiple-gear transmission, specifically accounting for the discrete gearshift dynamics. We formulate the problem as a…

Vehicle climate control systems aim to keep passengers thermally comfortable. However, current systems control temperature rather than thermal comfort and tend to be energy hungry, which is of particular concern when considering electric…

Traditional robotic approaches rely on an accurate model of the environment, a detailed description of how to perform the task, and a robust perception system to keep track of the current state. On the other hand, reinforcement learning…

Policy optimization in reinforcement learning requires the selection of numerous hyperparameters across different environments. Fixing them incorrectly may negatively impact optimization performance leading notably to insufficient or…

This paper proposes a new control strategy to improve vehicle cornering performance in a model predictive control framework. The most distinguishing feature of the proposed method is that the natural handling characteristics of the…

Electromechanical switching devices, such as solenoid valves, contactors, and relays, suffer from undesirable phenomena like clicking, mechanical wear, and contact bounce. Despite that, they are still widely used in industry due to their…

Learning accurate dynamics models is necessary for optimal, compliant control of robotic systems. Current approaches to white-box modeling using analytic parameterizations, or black-box modeling using neural networks, can suffer from high…