相关论文: An Exploration-Exploitation Approach to Anti-lock …
The quest for optimal operation in environments with unknowns and uncertainties is highly desirable but critically challenging across numerous fields. This paper develops a dual control framework for exploration and exploitation (DCEE) to…
This paper develops a fast numerical dual control for exploration and exploitation (DCEE) method to address auto-optimization problems in unknown environments. In auto-optimization problems, the optimal operating condition is unknown a…
Active object detection, which aims to identify objects of interest through controlled camera movements, plays a pivotal role in real-world visual perception for autonomous robotic applications, such as manufacturing tasks (e.g., assembly…
This paper proposes an optimal autonomous search framework, namely Dual Control for Exploration and Exploitation (DCEE), for a target at unknown location in an unknown environment. Source localisation is to find sources of atmospheric…
Safeguard functions such as those provided by advanced emergency braking (AEB) can provide another layer of safety for autonomous vehicles (AV). A smart safeguard function should adapt the activation conditions to the driving policy, to…
Motivated by the recently proposed dual control for exploration and exploitation (DCEE) concept, this paper presents a Multi-Step DCEE (MS-DCEE) framework with guaranteed convergence for autonomous search of a source of airborne dispersion.…
Autonomous Braking and Throttle control is key in developing safe driving systems for the future. There exists a need for autonomous vehicles to negotiate a multi-agent environment while ensuring safety and comfort. A Deep Reinforcement…
Nowadays, better driving also means better braking. To this end, vehicle designers must find all failures during the design phase of antilock braking systems which play an important role in automobiles safety. However, mechatronic systems…
An anti-lock braking system (ABS) is the primary motivation for this research. The ABS controller switches the actions of charging and discharging valves in the hydraulic actuator of the brake cylinder based on the wheels' angular speed and…
If a crash between two vehicles is imminent, an Automatic Emergency Brake (AEB) is activated to avoid or mitigate the accident. However, the trigger mechanism of the AEB relies on the vehicle's onboard sensors, such as radar and cameras,…
In this paper, a concurrent learning framework is developed for source search in an unknown environment using autonomous platforms equipped with onboard sensors. Distinct from the existing solutions that require significant computational…
We propose a methodology to address two analysis problems concerning complex systems, namely bounding state functionals of stochastic differential equations (SDEs) and verifying set avoidance of systems described by partial differential…
Collision detection via visual fences can significantly enhance the safety of collaborative robotic arms. Existing work typically performs such detection based on pre-deployed stationary cameras outside the robotic arm's workspace. These…
Integrated electric parking brake (iEPB) is popularizing on passenger cars due to its easier operation and automatic functions. As a parking brake, EPB have to act as the secondary brake system in case of hydraulic brake failure. To…
Legged robots navigating cluttered environments must be jointly agile for efficient task execution and safe to avoid collisions with obstacles or humans. Existing studies either develop conservative controllers (< 1.0 m/s) to ensure safety,…
Road accident can be triggered by wet road because it decreases skid resistance. To prevent the road accident, detecting road surface abnomality is highly useful. In this paper, we propose the deep learning based cost-effective real-time…
Construction equipment is designed to maintain good traction, even when operating in difficult off-road conditions. To curb wheel slip, the vehicles are equipped with differential locks. A driver may engage/disengage the locks to switch…
Planetary exploration requires traversal in environments with rugged terrains. In addition, Mars rovers and other planetary exploration robots often carry sensitive scientific experiments and components onboard, which must be protected from…
Development of control algorithms for enhancing performance in safety-critical systems such as the Autonomous Emergency Braking system (AEB) is an important issue in the emerging field of automated electric vehicles. In this study, we…
We propose Deterministic Sequencing of Exploration and Exploitation (DSEE) algorithm with interleaving exploration and exploitation epochs for model-based RL problems that aim to simultaneously learn the system model, i.e., a Markov…