相关论文: 3D Path Following and L1 Adaptive Control for Unde…

This paper presents a mission system and the therein implemented algorithms for path planning in a time-varying environment based on graph methods. The basic task of the introduced path planning algorithms is to find a time-optimal path…

Driving vehicles in complex scenarios under harsh conditions is the biggest challenge for autonomous vehicles (AVs). To address this issue, we propose hierarchical motion planning and robust control strategy using the front-active steering…

This paper presents a novel data-driven approach to vehicle motion planning and control in off-road driving scenarios. For autonomous off-road driving, environmental conditions impact terrain traversability as a function of weather, surface…

A path-planning algorithm for connected and non-connected automated road vehicles on multilane motorways is derived from the opportune formulation of an optimal control problem. In this framework, the objective function to be minimized…

Autonomous robots that are capable of operating safely in the presence of imperfect model knowledge or external disturbances are vital in safety-critical applications. In this paper, we present a planner-agnostic framework to design and…

This paper proposes a control architecture for autonomous lane keeping by a vehicle. In this paper, the vehicle dynamics consist of two parts: lateral and longitudinal dynamics. Therefore, the control architecture comprises two subsequent…

Autonomous underwater vehicle (AUV) plays an increasingly important role in ocean exploration. Existing AUVs are usually not fully autonomous and generally limited to pre-planning or pre-programming tasks. Reinforcement learning (RL) and…

This paper reports a robust scheme for topology identification and control of networks running on linear dynamics. In the proposed method, the unknown network is enforced to asymptotically follow a reference dynamics using the combination…

This paper proposes the trajectory tracking problem between an autonomous underwater vehicle (AUV) and a mobile surface ship, both equipped with optical communication transceivers. The challenging issue is to maintain stable connectivity…

This paper presents a robust tracking controller for tracking curvature-constrained paths by vehicles/robots with uncertain Dubins dynamics. Although Dubins paths have been widely used in vehicular and robotic applications, robust and…

Drift control is significant to the safety of autonomous vehicles when there is a sudden loss of traction due to external conditions such as rain or snow. It is a challenging control problem due to the presence of significant sideslip and…

This work presents an online learning-based control method for improved trajectory tracking of unmanned aerial vehicles using both deep learning and expert knowledge. The proposed method does not require the exact model of the system to be…

Path planning in an uncertain environment is a key enabler of true vehicle autonomy. Over the past two decades, numerous approaches have been developed to account for errors in the vehicle path while navigating complex and often uncertain…

Multiple fixed-wing unmanned aerial vehicles (multi-UAVs) encounter significant challenges in cooperative path following over complex Digital Elevation Model (DEM) low-altitude airspace, including wind field disturbances, sudden obstacles,…

Multirotor UAVs are used for a wide spectrum of civilian and public domain applications. Navigation controllers endowed with different attributes and onboard sensor suites enable multirotor autonomous or semi-autonomous, safe flight,…

High-speed off-road autonomous driving presents unique challenges due to complex, evolving terrain characteristics and the difficulty of accurately modeling terrain-vehicle interactions. While dynamics models used in model-based control can…

The exploration of under-ice environments presents unique challenges due to limited access for scientific research. This report investigates the potential of deploying a fully actuated Remotely Operated Vehicle (ROV) for shallow area…

Model-based control is a popular paradigm for robot navigation because it can leverage a known dynamics model to efficiently plan robust robot trajectories. However, it is challenging to use model-based methods in settings where the…

Accurate path following is challenging for autonomous robots operating in uncertain environments. Adaptive and predictive control strategies are crucial for a nonlinear robotic system to achieve high-performance path following control. In…

Legged locomotion is a complex control problem that requires both accuracy and robustness to cope with real-world challenges. Legged systems have traditionally been controlled using trajectory optimization with inverse dynamics. Such…