相关论文: Predicted Trajectory Guidance Control Framework of…

An eye-movement-based predicted trajectory guidance control (ePTGC) is proposed to mitigate the maneuverability degradation of a teleoperated ground vehicle caused by communication delays. Human sensitivity to delays is the main reason for…

Bilateral teleoperation of low-speed Unmanned Ground Vehicles (UGVs) on soft terrains is crucial for applications like lunar exploration, offering effective control of terrain-induced longitudinal slippage. However, latency arising from…

Teleoperation provides human operator sophisticated perceptual and cognitive skills into an over the network control loop. It gives hope of addressing some challenges related to vehicular autonomy which is based on artificial intelligence…

Networked Predictive Control is widely used to mitigate the effect of delays and dropouts in Networked Control Systems, particularly when these exceed the sampling time. A key design choice of these methods is the delay bound, which…

This article is an engineering note, and formal abstract is omitted in accordance with the requirements of the journal. The main idea of this note is as follows. In endoatmospheric landing of reusable rockets, there exist various kinds of…

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…

For motion planning and control of autonomous vehicles to be proactive and safe, pedestrians' and other road users' motions must be considered. In this paper, we present a vehicle motion planning and control framework, based on Model…

This article is devoted to addressing the cloud control of connected vehicles, specifically focusing on analyzing the effect of bi-directional communication-induced delays. To mitigate the adverse effects of such delays, a novel…

Data driven methods for time series forecasting that quantify uncertainty open new important possibilities for robot tasks with hard real time constraints, allowing the robot system to make decisions that trade off between reaction time and…

Continuous trajectory tracking control of quadrotors is complicated when considering noise from the environment. Due to the difficulty in modeling the environmental dynamics, tracking methodologies based on conventional control theory, such…

Accurate prediction of surrounding road users' trajectories is essential for safe and efficient autonomous driving. While deep learning models have improved performance, challenges remain in preventing off-road predictions and ensuring…

Delay Tolerant Networking (DTN) has been proposed as a new architecture to provide efficient store-carry-and-forward data transport in satellite networks. Since these networks relay on scheduled contact plans, the Contact Graph Routing…

Connected and automated vehicles (CAVs) rely on wireless communication to exchange state information for distributed control, making communication delays a critical factor that can affect vehicle motion and degrade control performance,…

We propose a novel feedback controller for a class of uncertain higher-order nonlinear systems, subject to delays in both state measurement and control input signals. Building on the prescribed performance control framework, a…

This paper proposes a new robust trajectory tracking error-based control approach for unmanned ground vehicles. A trajectory tracking error-based model is used to design a linear model predictive controller and its control action is…

The configuration of most robotic systems lies in continuous transformation groups. However, in mobile robot trajectory tracking, many recent works still naively utilize optimization methods for elements in vector space without considering…

Text-to-video generation has advanced rapidly in visual fidelity, whereas standard methods still have limited ability to control the subject composition of generated scenes. Prior work shows that adding localized text control signals, such…

We define trajectory predictive control (TPC) as a family of output-feedback indirect data-driven predictive control (DDPC) methods that represent the output trajectory of a discrete-time system as a linear function of the recent…

Autonomous driving is among the most promising of upcoming traffic safety technologies. Prototypes of autonomous vehicles are already being tested on public streets today. However, while current prototypes prove the feasibility of truly…

Trajectory planning for teleoperated space manipulators involves challenges such as accurately modeling system dynamics, particularly in free-floating modes with non-holonomic constraints, and managing time delays that increase model…