相关论文: Real-time MPC with Control Barrier Functions for A…

Guiding the visually impaired in complex environments requires real-time two-way interaction and safety assurance. We propose a Force-Compliance Model Predictive Control (FC-MPC) and Robot-User Control Barrier Functions (CBFs) for…

Deep reinforcement learning can seamlessly transfer agile locomotion and navigation skills from the simulator to real world. However, bridging the sim-to-real gap with domain randomization or adversarial methods often demands expert physics…

The complex tasks such as surveillance, construction, search and rescue can benefit of the maneuverability of multirotor Micro Aerial Vehicles (MAVs) to obtain robust, cooperative system behavior and formation control is a prominent…

This work presents a unified approach for collision avoidance using Collision-Cone Control Barrier Functions (CBFs) in both ground (UGV) and aerial (UAV) unmanned vehicles. We propose a novel CBF formulation inspired by collision cones, to…

Model predictive control (MPC) provides a useful means for controlling systems with constraints, but suffers from the computational burden of repeatedly solving an optimization problem in real time. Offline (explicit) solutions for MPC…

Robots will increasingly operate near humans that introduce uncertainties in the motion planning problem due to their complex nature. Typically, chance constraints are introduced in the planner to optimize performance while guaranteeing…

We propose a robust nonlinear model predictive control (MPC) scheme for trajectory-tracking control of autonomous vehicles at the limits of handling on non-planar road surfaces. We derive the dynamics from first principles and selectively…

This paper addresses the challenge of ensuring safety in stochastic control systems with high-relative-degree constraints, while maintaining feasibility and mitigating conservatism in risk evaluation. Control Barrier Functions (CBFs)…

The goal of this thesis is to propose the combination of Control-Barrier-Functions (CBF) with Model-Predictive-Control (MPC) resulting in the novel Model-Predictive-Control-Barrier-Function (MPCBF). It can be shown, that the performance of…

This paper develops a new control design for guaranteeing a vehicle's safety during lane change maneuvers in a complex traffic environment. The proposed method uses a finite state machine (FSM), where a quadratic program based optimization…

An approach to resilient planning and control of autonomous vehicles in multi-vehicle traffic scenarios is proposed. The proposed method is based on model predictive control (MPC), where alternative predictions of the surrounding traffic…

This paper presents an autonomous control framework for articulated boom cranes performing prefabricated block assembly in construction environments. The key challenge addressed is precise placement control under passive joint dynamics that…

This paper presents a real-time lane change control framework of autonomous driving in dense traffic, which exploits cooperative behaviors of other drivers. This paper focuses on heavy traffic where vehicles cannot change lanes without…

Model predictive control (MPC) has established itself as the primary methodology for constrained control, enabling general-purpose robot autonomy in diverse real-world scenarios. However, for most problems of interest, MPC relies on the…

Optimization-based approaches such as Model Predictive Control (MPC) are promising approaches in proactive control for safety-critical applications with changing environments such as automated driving systems. However, the computational…

We present Contingency Model Predictive Control (CMPC), a motion planning and control framework that optimizes performance objectives while simultaneously maintaining a contingency plan -- an alternate trajectory that avoids a potential…

Model Predictive Control (MPC) is an optimal control algorithm with strong stability and robustness guarantees. Despite its popularity in robotics and industrial applications, the main challenge in deploying MPC is its high computation…

Autonomous robots deployed in unknown search-and-rescue (SaR) environments can significantly improve the efficiency of the mission by assisting in fast localisation and rescue of the trapped victims. We propose a novel integrated…

Safe navigation in unknown and cluttered environments remains a challenging problem in robotics. Model Predictive Contour Control (MPCC) has shown promise for performant obstacle avoidance by enabling precise and agile trajectory tracking,…

This research introduces a multi-horizon contingency model predictive control (CMPC) framework in which classes of robust MPC (RMPC) algorithms are combined with classes of learning-based MPC (LB-MPC) algorithms to enable safe learning. We…