相关论文: Tuning the feedback controller gains is a simple w…

Fleets of autonomous vehicles can mitigate traffic congestion through simple actions, thus improving many socioeconomic factors such as commute time and gas costs. However, these approaches are limited in practice as they assume precise…

Modern automation systems rely on closed loop control, wherein a controller interacts with a controlled process, based on observations. These systems are increasingly complex, yet most controllers are linear Proportional-Integral-Derivative…

To improve efficiency and reduce failures in autonomous vehicles, research has focused on developing robust and safe learning methods that take into account disturbances in the environment. Existing literature in robust reinforcement…

A trust-aware safe control system for autonomous navigation in the presence of humans, specifically pedestrians, is presented. The system combines model predictive control (MPC) with control barrier functions (CBFs) and trust estimation to…

In this paper we present a Learning Model Predictive Controller (LMPC) for autonomous racing. We model the autonomous racing problem as a minimum time iterative control task, where an iteration corresponds to a lap. In the proposed approach…

Autonomous car racing is a challenging task, as it requires precise applications of control while the vehicle is operating at cornering speeds. Traditional autonomous pipelines require accurate pre-mapping, localization, and planning which…

In this project, we designed a DC motor whose speed can be controlled by a PID controller. The proportional, integral and derivative gains (KP, KI, KD) of the PID controller are adjusted according to Fuzzy logic. First of all, the fuzzy…

This paper presents a new data-driven fault identification and controller reconfiguration algorithm. The presented algorithm relies only on the system's input and output data, and it does not require a detailed system description. The…

While classic control theory offers state of the art solutions in many problem scenarios, it is often desired to improve beyond the structure of such solutions and surpass their limitations. To this end, residual policy learning (RPL)…

End-to-end driving systems have recently made rapid progress, in particular on CARLA. Independent of their major contribution, they introduce changes to minor system components. Consequently, the source of improvements is unclear. We…

Neural networks have been increasingly employed in Model Predictive Controller (MPC) to control nonlinear dynamic systems. However, MPC still poses a problem that an achievable update rate is insufficient to cope with model uncertainty and…

This paper presents an adaptive autopilot for fixed-wing aircraft and compares its performance with a fixed-gain autopilot. The adaptive autopilot is constructed by augmenting the autopilot architecture with adaptive control laws that are…

We introduce CARLA, an open-source simulator for autonomous driving research. CARLA has been developed from the ground up to support development, training, and validation of autonomous urban driving systems. In addition to open-source code…

This paper proposes a control technique for autonomous RC car racing. The presented method does not require any map-building phase beforehand since it operates only local path planning on the actual LiDAR point cloud. Racing control…

Automated vehicle technologies offer a promising avenue for enhancing traffic efficiency, safety, and energy consumption. Among these, Adaptive Cruise Control (ACC) systems stand out as a prevalent form of automation on today's roads, with…

Self-driving cars operate in constantly changing environments and are exposed to a variety of uncertainties and disturbances. These factors render classical controllers ineffective, especially for lateral control. Therefore, an adaptive MPC…

Reinforcement Learning from Human Feedback (RLHF) is popular in large language models (LLMs), whereas traditional Reinforcement Learning (RL) often falls short. Current autonomous driving methods typically utilize either human feedback in…

We consider the design of optimal localized feedback gains for one-dimensional formations in which vehicles only use information from their immediate neighbors. The control objective is to enhance coherence of the formation by making it…

Experimental demonstration of complex robotic behaviors relies heavily on finding the correct controller gains. This painstaking process is often completed by a domain expert, requiring deep knowledge of the relationship between parameter…

A major challenge in autonomous vehicle research is modeling agent behaviors, which has critical applications including constructing realistic and reliable simulations for off-board evaluation and forecasting traffic agents motion for…