相关论文: Input-to-State Safety with Input Delay in Longitud…
With the rapid growth of autonomous vehicle technologies, effective path-tracking control has become a critical component in ensuring safety and efficiency in complex traffic scenarios. When a high level decision making agent generates a…
Automated driving systems can be helpful in a wide range of societal challenges, e.g., mobility-on-demand and transportation logistics for last-mile delivery, by aiding the vehicle driver or taking over the responsibility for the dynamic…
Endowing nonlinear systems with safe behavior is increasingly important in modern control. This task is particularly challenging for real-life control systems that must operate safely in dynamically changing environments. This paper…
Input delays affect systems such as teleoperation and wirelessly autonomous connected vehicles, and may lead to safety violations. One promising way to ensure safety in the presence of delay is to employ control barrier functions (CBFs),…
Both humans and the sensors on an autonomous vehicle have limited sensing capabilities. When these limitations coincide with scenarios involving vulnerable road users, it becomes important to account for these limitations in the motion…
Assurance of asymptotic trajectory tracking in robotic manipulators with a smooth control law in the presence of unmodeled dynamics or external disturbance is a challenging problem. Recently, it is asserted that it is achieved via a…
While learning-based control techniques often outperform classical controller designs, safety requirements limit the acceptance of such methods in many applications. Recent developments address this issue through so-called predictive safety…
A fundamental problem in traffic networks is driving under safety and limited physical space constraints. In this paper, we design longitudinal vehicle controllers and study the dynamics of a system of homogeneous vehicles on a single-lane…
Performing swift and agile maneuvers is essential for the safe operation of autonomous mobile robots. Moreover, the presence of time-delay restricts the response time of the system and hinders the safety performance. Thus, this paper…
Recently, safe reinforcement learning (RL) with the actor-critic structure for continuous control tasks has received increasing attention. It is still challenging to learn a near-optimal control policy with safety and convergence…
Autonomous vehicular platoons will play an important role in improving on-road safety in tomorrow's smart cities. Vehicles in an autonomous platoon can exploit vehicle-to-vehicle (V2V) communications to collect information, such as velocity…
Truck platooning is a technology that is expected to become widespread in the coming years. Apart from the numerous benefits that it brings, its potential effects on the overall traffic situation need to be studied further, especially at…
Collaboration between interconnected cyber-physical systems is becoming increasingly pervasive. Time-delays in communication channels between such systems are known to induce catastrophic failure modes, like high frequency oscillations in…
This paper studies the stabilization and safety problems of nonlinear time-delay systems, where time delays exist in system state and affect the controller design. Following the Razumikhin approach, we propose a novel control…
Heavy duty truck mechanical configuration is often tailor designed and built for specific truck mission requirements. This renders the precise derivation of analytical dynamical models and controls for these trucks from first principles…
Traffic signal control is a critical task in intelligent transportation systems, yet conventional fixed-time and rule-based methods often struggle to adapt to dynamic traffic demand and provide limited decision interpretability. This study…
Biological motor control provides highly effective solutions to difficult control problems in spite of the complexity of the plant and the significant delays in sensory feedback . Such delays are expected to lead to non trivial stability…
To improve the driving mobility and energy efficiency of connected autonomous electrified vehicles, this paper presents an integrated longitudinal speed decision-making and energy efficiency control strategy. The proposed approach is a…
In this paper, we consider the use of barrier function-based approaches for the safe control problem in stochastic systems. With the presence of stochastic uncertainties, a myopic controller that ensures safe probability in infinitesimal…
A typical trajectory planner of autonomous driving commonly relies on predicting the future behavior of surrounding obstacles. Recently, deep learning technology has been widely adopted to design prediction models due to their impressive…