相关论文: A Resilient Navigation and Path Planning System fo…

With the emergence of autonomous ground vehicles and the recent advancements in Intelligent Transportation Systems, Autonomous Traffic Management has garnered more and more attention. Autonomous Intersection Management (AIM), also known as…

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…

Airborne mobile Integrated Sensing and Communication (ISAC) base stations have garnered significant attention recently, with ISAC technology being a crucial application for 6G networks. Since ISAC can sense potential mobile communication…

The real-time unmanned aerial vehicle (UAV) trajectory design of secure integrated sensing and communication (ISAC) is optimized. In particular, the UAV serves both as a downlink transmitter and a radar receiver. The legitimate user (Bob)…

The field of high-speed autonomous racing has seen significant advances in recent years, with the rise of competitions such as RoboRace and the Indy Autonomous Challenge providing a platform for researchers to develop software stacks for…

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…

Unmanned aerial vehicle (UAV) is expected to revolutionize the existing integrated sensing and communication (ISAC) system and promise a more flexible joint design. Nevertheless, the existing works on ISAC mainly focus on exploring the…

In this paper, we propose sensing-assisted beamforming designs for vehicles on arbitrarily shaped roads by relying on integrated sensing and communication (ISAC) signalling.Specifically, we aim to address the limitations of conventional…

In this paper, we propose a fault detection and isolation based attack-aware multi-sensor integration algorithm for the detection of cyberattacks in autonomous vehicle navigation systems. The proposed algorithm uses an extended Kalman…

Autonomous micro aerial vehicles still struggle with fast and agile maneuvers, dynamic environments, imperfect sensing, and state estimation drift. Autonomous drone racing brings these challenges to the fore. Human pilots can fly a…

Unmanned aerial vehicle (UAV) has high flexibility and controllable mobility, therefore it is considered as a promising enabler for future integrated sensing and communication (ISAC). In this paper, we propose a novel adaptable ISAC (AISAC)…

Conditional imitation learning (CIL) trains deep neural networks, in an end-to-end manner, to mimic human driving. This approach has demonstrated suitable vehicle control when following roads, avoiding obstacles, or taking specific turns at…

Decision and control are core functionalities of high-level automated vehicles. Current mainstream methods, such as functionality decomposition and end-to-end reinforcement learning (RL), either suffer high time complexity or poor…

Velocity estimation plays a central role in driverless vehicles, but standard and affordable methods struggle to cope with extreme scenarios like aggressive maneuvers due to the presence of high sideslip. To solve this, autonomous race cars…

Active collision avoidance system plays a crucial role in ensuring the lateral safety of autonomous vehicles, and it is primarily related to path planning and tracking control algorithms. In particular, the direct yaw-moment control (DYC)…

This article addresses the obstacle avoidance problem for setpoint stabilization and path-following tasks in complex dynamic 2D environments that go beyond conventional scenes with isolated convex obstacles. A combined motion planner and…

Reliable detection and tracking of surrounding objects are indispensable for comprehensive motion prediction and planning of autonomous vehicles. Due to the limitations of individual sensors, the fusion of multiple sensor modalities is…

Autonomous drone racing competitions are a proxy to improve unmanned aerial vehicles' perception, planning, and control skills. The recent emergence of autonomous nano-sized drone racing imposes new challenges, as their ~10cm form factor…

This paper studies the design of a Model Predictive Controller (MPC) for integrated lateral stability, traction/braking control, and rollover prevention of electric vehicles intended for very high speed (VHS) racing applications. We first…

Unmanned aerial vehicle (UAV) holds immense potential in integrated sensing and communication (ISAC) systems for the Internet of Things (IoT). In this paper, we propose a UAV-aided ISAC framework and investigate three robust power…