相关论文: Real-Time Sensor-Based Feedback Control for Obstac…

This paper introduces a novel trajectory planner for autonomous robots, specifically designed to enhance navigation by incorporating dynamic obstacle avoidance within the Robot Operating System 2 (ROS2) and Navigation 2 (Nav2) framework.…

Trajectory planning in dense, interactive traffic scenarios presents significant challenges for autonomous vehicles, primarily due to the uncertainty of human driver behavior and the non-convex nature of collision avoidance constraints.…

In this paper, a novel closed-loop control framework for autonomous obstacle avoidance on a curve road is presented. The proposed framework provides two main functionalities; (i) collision free trajectory planning using MPC and (ii) a…

We employ the proximal averaged Newton-type method for optimal control (PANOC) to solve obstacle avoidance problems in real time. We introduce a novel modeling framework for obstacle avoidance which allows us to easily account for generic,…

This paper addresses the problem of navigation control of a general class of uncertain nonlinear multi-agent systems in a bounded workspace of $\mathbb{R}^n$ with static obstacles. In particular, we propose a decentralized control protocol…

We present the design of a safe Adaptive Cruise Control (ACC) which uses road grade and lead vehicle motion preview. The ACC controller is designed by using a Model Predictive Control (MPC) framework to optimize comfort, safety,…

We propose a light-weight, self-supervised adaptation for a visual navigation agent to generalize to unseen environment. Given an embodied agent trained in a noiseless environment, our objective is to transfer the agent to a noisy…

Autonomous underwater vehicles (AUV) have become the de facto vehicle for remote operations involving oceanography, inspection, and monitoring tasks. These vehicles operate in different and often challenging environments; hence, the design…

We study a novel principle for safe and efficient collision avoidance that adopts a mathematically elegant and general framework abstracting as much as possible from the controlled vehicle's dynamics and of its environment. Vehicle dynamics…

This paper proposes a safety-critical controller for dynamic and uncertain environments, leveraging a robust environment control barrier function (ECBF) to enhance the robustness against the measurement and prediction uncertainties…

Recent advances in machine learning technologies and sensing have paved the way for the belief that safe, accessible, and convenient autonomous vehicles may be realized in the near future. Despite tremendous advances within this context,…

Small-sized unmanned surface vehicles (USV) are coastal water devices with a broad range of applications such as environmental control and surveillance. A crucial capability for autonomous operation is obstacle detection for timely reaction…

We consider the problem of safe real-time navigation of a robot in a dynamic environment with moving obstacles of arbitrary smooth geometries and input saturation constraints. We assume that the robot detects and models nearby obstacle…

Research on coastal regions traditionally involves methods like manual sampling, monitoring buoys, and remote sensing, but these methods face challenges in spatially and temporally diverse regions of interest. Autonomous surface vehicles…

This paper presents an optimisation-based approach for an obstacle avoidance problem within an autonomous vehicle racing context. Our control regime leverages online reachability analysis and sensor data to compute the maximal safe…

This paper proposes a Robust Safe Control Architecture (RSCA) for safe-decision making. The system to be controlled is a vehicle in the presence of bounded disturbances. The RSCA consists of two parts: a Supervisor MPC and a Controller MPC.…

Navigation tasks often cannot be defined in terms of a target, either because global position information is unavailable or unreliable or because target location is not explicitly known a priori. This task is then often defined indirectly…

Unmanned aerial vehicles (UAVs) suffer from sensor drifts in GPS denied environments, which can lead to potentially dangerous situations. To avoid intolerable sensor drifts in the presence of GPS spoofing attacks, we propose a safety…

The real-time dynamic environment perception has become vital for autonomous robots in crowded spaces. Although the popular voxel-based mapping methods can efficiently represent 3D obstacles with arbitrarily complex shapes, they can hardly…

This paper addresses the problem of navigation control of a general class of 2nd order uncertain nonlinear multi-agent systems in a bounded workspace, which is a subset of $R^3$ , with static obstacles. In particular, we propose a…