相关论文: Learning Based NMPC Adaptation for Autonomous Driv…

LiDAR-based perception in intelligent transportation systems (ITS) relies on deep neural networks trained with large-scale labeled datasets. However, creating such datasets is expensive, time-consuming, and labor-intensive, limiting the…

This paper presents the development and implementation of a Model Predictive Control (MPC) framework for trajectory tracking in autonomous vehicles under diverse driving conditions. The proposed approach incorporates a modular architecture…

Deep Reinforcement Learning (DRL) has shown remarkable success in solving complex tasks across various research fields. However, transferring DRL agents to the real world is still challenging due to the significant discrepancies between…

Synthetic data generation is an appealing approach to generate novel traffic scenarios in autonomous driving. However, deep learning perception algorithms trained solely on synthetic data encounter serious performance drops when they are…

Driverless vehicles are complex systems operating in constantly changing environments. Automated driving is achieved by controlling the coupled longitudinal and lateral vehicle dynamics. Model predictive control is one of the most promising…

We present a new algorithm for model predictive control of non-linear systems with respect to multiple, conflicting objectives. The idea is to provide a possibility to change the objective in real-time, e.g.~as a reaction to changes in the…

Creating accurate spatial representations that take into account uncertainty is critical for autonomous robots to safely navigate in unstructured environments. Although recent LIDAR based mapping techniques can produce robust occupancy…

Real-time adaptation is imperative to the control of robots operating in complex, dynamic environments. Adaptive control laws can endow even nonlinear systems with good trajectory tracking performance, provided that any uncertain dynamics…

This paper proposes a Model Predictive Control (MPC) algorithm for target tracking amongst static and dynamic obstacles. Our main contribution lies in improving the computational tractability and reliability of the underlying non-convex…

Off-road autonomy validation presents unique challenges due to the unpredictable and dynamic nature of off-road environments. Traditional methods focusing on sequentially sweeping across the parameter space for variability analysis struggle…

The performance of robots in high-level tasks depends on the quality of their lower-level controller, which requires fine-tuning. However, the intrinsically nonlinear dynamics and controllers make tuning a challenging task when it is done…

Unsupervised domain adaptation is one of the challenging problems in computer vision. This paper presents a novel approach to unsupervised domain adaptations based on the optimal transport-based distance. Our approach allows aligning target…

Industrial process optimization and control is crucial to increase economic and ecologic efficiency. However, data sovereignty, differing goals, or the required expert knowledge for implementation impede holistic implementation. Further,…

Traditional mobility management strategies emphasize macro-level mobility oversight from traffic-sensing infrastructures, often overlooking safety risks that directly affect road users. To address this, we propose a Digital Twin-based…

While developing perception based deep learning models, the benefit of synthetic data is enormous. However, performance of networks trained with synthetic data for certain computer vision tasks degrade significantly when tested on real…

Decentralised online learning enables runtime adaptation in cyber-physical multi-agent systems, but when operating conditions change, learned policies often require substantial trial-and-error interaction before recovering performance. To…

This paper proposes a novel real-time affordable solution to the trajectory tracking control problem for self-driving cars subject to longitudinal and steering angular velocity constraints. To this end, we develop a dual-mode Model…

Optimal control provides a principled framework for transforming dynamical system models into intelligent decision-making, yet classical computational approaches are often too expensive for real-time deployment in dynamic or uncertain…

Deep neural networks (DNNs), trained with gradient-based optimization and backpropagation, are currently the primary tool in modern artificial intelligence, machine learning, and data science. In many applications, DNNs are trained offline,…

Digital twins are transforming the way we monitor, analyze, and control physical systems, but designing architectures that balance real-time responsiveness with heavy computational demands remains a challenge. Cloud-based solutions often…