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Fuel consumption of heavy-duty vehicles such as tractors, bulldozers etc. is comparably high due to their scope of operation. The operation settings are usually fixed and not tuned to the environmental factors, such as ground conditions.…
This paper proposes a method for calibrating control parameters. Examples of such control parameters are gains of PID controllers, weights of a cost function for optimal control, filter coefficients, the sliding surface of a sliding mode…
This paper describes a novel method for the estimation of the trajectory curve and orientation of a rigid body moving along a railway track. Compared to other recent developments in the literature, the presented approach has the significant…
The extent of vibrations experienced by a vehicle driving over natural terrain defines its ride quality. Generally, surface irregularities, ranging from single discontinuities to random variations of the elevation profile, act as a major…
This paper provides a comprehensive comparison of model-based and data-driven approaches and analyses the benefits of using measured tyre forces for vehicle sideslip angle estimation. The model-based approaches are based on an extended…
Track geometry monitoring is essential for maintaining the safety and efficiency of railway operations. While Track Recording Cars (TRCs) provide accurate measurements of track geometry indicators, their limited availability and high…
High fidelity behavior prediction of human drivers is crucial for efficient and safe deployment of autonomous vehicles, which is challenging due to the stochasticity, heterogeneity, and time-varying nature of human behaviors. On one hand,…
This paper explores a pragmatic approach to multiple object tracking where the main focus is to associate objects efficiently for online and realtime applications. To this end, detection quality is identified as a key factor influencing…
Robust estimation of vehicle sideslip angle is essential for stability control applications. However, the direct measurement of sideslip angle is expensive for production vehicles. This paper presents a novel sideslip estimation algorithm…
A novel approach for vehicle tracking using a hybrid adaptive Kalman filter is proposed. The filter utilizes recurrent neural networks to learn the vehicle's geometrical and kinematic features, which are then used in a supervised learning…
Parameter tuning is a common issue for many tracking algorithms. In order to solve this problem, this paper proposes an online parameter tuning to adapt a tracking algorithm to various scene contexts. In an offline training phase, this…
Decisions in automated logistic systems can be improved based on knowledge of real-time state of individual parts and also environmental factors. These knowledge can be obtained through travel time of edges by individual robots which…
In multi-point contact systems, precise force control is crucial for achieving stable and safe interactions between robots and their environment. Thus, we demonstrate an admittance controller with auto-tuning that can be applied for these…
Advances in precision agriculture greatly rely on innovative control and sensing technologies that allow service units to increase their level of driving automation while ensuring at the same time high safety standards. This paper deals…
Off-line robot dynamic identification methods are mostly based on the use of the inverse dynamic model, which is linear with respect to the dynamic parameters. This model is sampled while the robot is tracking reference trajectories that…
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…
Physics-informed deep learning is a popular trend in the modeling and control of dynamical systems. This paper presents a novel method for rapid online identification of vehicle cornering stiffness coefficient, a crucial parameter in…
Accurate soil moisture information is crucial for developing precise irrigation control strategies to enhance water use efficiency. Soil moisture estimation based on limited soil moisture sensors is crucial for obtaining comprehensive soil…
Displacement plays a crucial role in structural health monitoring (SHM) and damage detection of structural systems subjected to dynamic loads. However, due to the inconvenience associated with the direct measurement of displacement during…
Many real-world applications require legged robots to be able to carry variable payloads. Model-based controllers such as model predictive control (MPC) have become the de facto standard in research for controlling these systems. However,…