相关论文: Euclidean and non-Euclidean Trajectory Optimizatio…
Dynamic maneuvers for legged robots present a difficult challenge due to the complex dynamics and contact constraints. This paper introduces a versatile trajectory optimization framework for continuous-time multi-phase problems. We…
This paper introduces an inviscid Computational Fluid Dynamics (CFD) approach for the rapid aerodynamic assessment of Flettner rotor systems on ships. The method relies on the Eulerian flow equations, approximated utilizing a…
We leverage game theory and a new vehicle modeling approach to compute overtaking maneuvers for racecars on a nonplanar surface. We solve for equilibria between noncooperative racing agents and demonstrate that by leveraging the novel…
We propose an online planning approach for racing that generates the time-optimal trajectory for the upcoming track section. The resulting trajectory takes the current vehicle state, effects caused by \acl{3D} track geometries, and speed…
For multi-vehicle complex traffic scenarios in shared spaces such as intelligent intersections, safe coordination and trajectory planning is challenging due to computational complexity. To meet this challenge, we introduce a computationally…
Real-world physics can only be analytically modeled with a certain level of precision for modern intricate robotic systems. As a result, tracking aggressive trajectories accurately could be challenging due to the existence of residual…
Given the evolving application scenarios of current fixed-wing unmanned aerial vehicles (UAVs), it is necessary for UAVs to possess agile and rapid 3-dimensional flight capabilities. Typically, the trajectory of a tail-sitter is generated…
Improving the powertrain control of heavy-duty vehicles can be an efficient way to reduce the fuel consumption and thereby reduce both the operating cost and the environmental impact. One way of doing so is by using information about the…
One of the most critical tasks in tractor operation is the accurate steering during field operations, e.g., accurate trajectory following during mechanical weeding or spraying, to avoid damaging the crop or planting when there is no crop…
To efficiently deploy robotic systems in society, mobile robots must move autonomously and safely through complex environments. Nonlinear model predictive control (MPC) methods provide a natural way to find a dynamically feasible trajectory…
Trajectories that capture object movement have numerous applications, in which similarity computation between trajectories often plays a key role. Traditionally, the similarity between two trajectories is quantified by means of heuristic…
In this paper, we present a novel approach to efficiently generate collision-free optimal trajectories for multiple non-holonomic mobile robots in obstacle-rich environments. Our approach first employs a graph-based multi-agent path planner…
We discuss non-Euclidean deterministic and stochastic algorithms for optimization problems with strongly and uniformly convex objectives. We provide accuracy bounds for the performance of these algorithms and design methods which are…
We present a closed-loop framework for autonomous raceline optimization that combines NURBS-based trajectory representation, CMA-ES global trajectory optimization, and controller-guided spatial feedback. Instead of treating tracking errors…
In order to determine the optimal strategy to run a race on a curved track according to the lane number, we introduce a model based on differential equations for the velocity, the propulsive force and the anaerobic energy which takes into…
In this work, we utilize discrete geometric mechanics to derive a 2nd-order variational integrator so as to simulate rigid body dynamics. The developed integrator is to simulate the motion of a free rigid body and a quad-rotor. We…
Before a car-following model can be applied in practice, it must first be validated against real data in a process known as calibration. This paper discusses the formulation of calibration as an optimization problem, and compares different…
Generating overtaking trajectories in autonomous racing is a challenging task, as the trajectory must satisfy the vehicle's dynamics and ensure safety and real-time performance running on resource-constrained hardware. This work proposes…
World Endurance Championship (WEC) racing events are characterised by a relevant performance gap among competitors. The fastest vehicles category, consisting in hybrid vehicles, has to respect energy usage constraints set by the technical…
Learning-based control approaches like reinforcement learning (RL) have recently produced a slew of impressive results for tasks like quadrotor trajectory tracking and drone racing. Naturally, it is common to demonstrate the advantages of…