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Road condition is an important environmental factor for autonomous vehicle control. A dramatic change in the road condition from the nominal status is a source of uncertainty that can lead to a system failure. Once the vehicle encounters an…

Complex autonomous driving, such as drifting, requires high-precision and high-frequency pose information to ensure accuracy and safety, which is notably difficult when using only onboard sensors. In this paper, we propose a drift…

Highly automated driving requires precise models of traffic participants. Many state of the art models are currently based on machine learning techniques. Among others, the required amount of labeled data is one major challenge. An…

The problem of autonomous racing is to navigate through a race course as quickly as possible while not colliding with any obstacles. We approach the autonomous racing problem with the added constraint of not maintaining an updated obstacle…

In the real-world, self-driving vehicles are required to achieve steering maneuvers in both uncontrolled and uncertain environments while maintaining high levels of safety and passengers' comfort. Ignoring these requirements would…

Control systems are at the core of every real-world robot. They are deployed in an ever-increasing number of applications, ranging from autonomous racing and search-and-rescue missions to industrial inspections and space exploration. To…

Motion control of underwater robotic vehicles is a demanding task with great challenges imposed by external disturbances, model uncertainties and constraints of the operating workspace. Thus, robust motion control is still an open issue for…

Path following and lateral stability are crucial issues for autonomous vehicles. Moreover, these problems increase in complexity when handling articulated heavy-duty vehicles due to their poor manoeuvrability, large sizes and mass…

Real-time estimation of vehicle-tire-road friction is critical for allowing autonomous race cars to safely and effectively operate at their physical limits. Traditional approaches to measure tire grip often depend on costly, specialized…

For autonomous vehicles lane keeping purposes it is crucial to control the vehicle yaw rate. As it is known a vehicle yaw rate control can be achieved handling the steering angle. One option is to consider a robust controller and depending…

Autonomous vehicles (AV) is an advanced technology that can bring convenience, improve the road-network throughput, and reduce traffic accidents. To enable higher levels of automation (LoA), massive amounts of sensory data need to be…

Off-road driving operations can be a challenging environment for human conductors as they are subject to accidents, repetitive and tedious tasks, strong vibrations, which may affect their health in the long term. Therefore, they can benefit…

This paper investigates the safe platoon formation tracking and merging control problem of connected and automated vehicles (CAVs) on curved multi-lane roads. The first novelty is the separation of the control designs into two distinct…

Adaptive cruise control systems are fundamental components of the automation of the driving. At upper control level, ACC systems are based on car-following models determining the acceleration rate of a vehicle according to the distance gap…

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 article, we present a long-duration autonomy approach for the control of connected and automated vehicles (CAVs) operating in a transportation network. In particular, we focus on the performance of CAVs at traffic bottlenecks,…

Safe navigation in real-time is challenging because engineers need to work with uncertain vehicle dynamics, variable external disturbances, and imperfect controllers. A common safety strategy is to inflate obstacles by hand-defined margins.…

The operational space of an autonomous vehicle (AV) can be diverse and vary significantly. This may lead to a scenario that was not postulated in the design phase. Due to this, formulating a rule based decision maker for selecting maneuvers…

There has been significant progress in sensing, perception, and localization for automated driving, However, due to the wide spectrum of traffic/road structure scenarios and the long tail distribution of human driver behavior, it has…

We introduce a problem in which a service vehicle seeks to guard a deadline (boundary) from dynamically arriving mobile targets. The environment is a rectangle and the deadline is one of its edges. Targets arrive continuously over time on…