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

This paper introduces a novel approach that integrates future closest point predictions into the distance constraints of a collision avoidance controller, leveraging convex hulls with closest point distance calculations. By addressing…

This paper presents a modular autonomous driving architecture for Formula Student Driverless competition vehicles operating in closed-circuit environments. The perception module employs YOLOv11 for real-time traffic cone detection,…

This paper considers the online nonstochastic control problem of a linear time-invariant system under convex state and input constraints that need to be satisfied at all times. We propose an algorithm called Online Gradient Descent with…

Motion control of underwater robotic vehicles is a demanding task with great challenges imposed by external disturbances, model uncertainties and constraints of the operating workspace. Thus, robust motion control is still an open issue for…

The growing need for high-performance controllers in safety-critical applications like autonomous driving has been motivating the development of formal safety verification techniques. In this paper, we design and implement a predictive…

Ensuring safe driving while maintaining travel efficiency for autonomous vehicles in dynamic and occluded environments is a critical challenge. This paper proposes an occlusion-aware contingency safety-critical planning approach for…

Autonomous Vehicles (AVs) need an accurate and up-to-date representation of the environment for safe navigation. Traditional methods, which often rely on detailed environmental representations constructed offline, struggle in dynamically…

This paper introduces SANGO (Socially Aware Navigation through Grouped Obstacles), a novel method that ensures socially appropriate behavior by dynamically grouping obstacles and adhering to social norms. Using deep reinforcement learning,…

The Adaptive Cruise Control (ACC) system automatically adjusts the vehicle speed to maintain a safe distance between the vehicle and the lead (ahead) vehicle. The controller's decision to accelerate or decelerate is computed using the…

Autonomous ground vehicles (AGVs) are receiving increasing attention, and the motion planning and control problem for these vehicles has become a hot research topic. In real applications such as material handling, an AGV is subject to large…

We propose a fully distributed control system architecture, amenable to in-vehicle implementation, that aims to safely coordinate connected and automated vehicles (CAVs) at road intersections. For control purposes, we build upon a fully…

Reference tracking and obstacle avoidance rank among the foremost challenging aspects of autonomous driving. This paper proposes control designs for solving reference tracking problems in autonomous driving tasks while considering static…

At Levels 2 and 3 of autonomous driving defined by the Society of Auto-motive Engineers, drivers must take on certain driving responsibilities, and automated driving must sometimes yield to human control. This situation can occur in real…

Digital control has become increasingly prevalent in modern systems, making continuous-time plants controlled by discrete-time (digital) controllers ubiquitous and crucial across industries, including aerospace, automotive, and…

Autonomous vehicles must navigate dynamically uncertain environments while balancing safety and efficiency. This challenge is exacerbated by unpredictable human-driven vehicle (HV) behaviors and perception inaccuracies, necessitating…

This paper proposes a finite-horizon optimal control strategy for set-point tracking using a nonlinear model predictive control framework with integrated avoidance capabilities. The formulation employs a smooth point-to-cloud distance…

Motivated by the fragility of neural network (NN) controllers in safety-critical applications, we present a data-driven framework for verifying the risk of stochastic dynamical systems with NN controllers. Given a stochastic control system,…

Control barrier functions are widely used to enforce safety properties in robot motion planning and control. However, the problem of constructing barrier functions online and synthesizing safe controllers that can deal with the associated…

The paper considers autonomous rendezvous maneuver and proximity operations of two spacecraft in presence of obstacles. A strategy that combines guidance and control algorithms is analyzed. The proposed closed-loop system is able to…

Navigating complex environments requires Unmanned Aerial Vehicles (UAVs) and autonomous systems to perform trajectory tracking and obstacle avoidance in real-time. While many control strategies have effectively utilized linear…