相关论文: Model Predictive Contouring Control for Vehicle Ob…

Stochastic Model Predictive Control addresses uncertainties by incorporating chance constraints that provide probabilistic guarantees of constraint satisfaction. However, simultaneously optimizing over the risk allocation and the feedback…

Single-lane car-following is a fundamental task in autonomous driving. A desirable car-following controller should keep a reasonable range of distances to the preceding vehicle and do so as smoothly as possible. To achieve this, numerous…

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…

To be applicable to real world scenarios trajectory planning schemes for mobile autonomous systems must be able to efficiently deal with obstacles in the area of operation. In the context of optimization based trajectory planning and…

Model Predictive Control lacks the ability to escape local minima in nonconvex problems. Furthermore, in fast-changing, uncertain environments, the conventional warmstart, using the optimal trajectory from the last timestep, often falls…

Motion trajectory planning is one crucial aspect for automated vehicles, as it governs the own future behavior in a dynamically changing environment. A good utilization of a vehicle's characteristics requires the consideration of the…

We present a simplified model of a vehicle driving on a nonplanar road. A parametric surface is used to describe the nonplanar road which can describe any combination of curvature, bank and slope. We show that the proposed modeling approach…

This article is devoted to addressing the cloud control of connected vehicles, specifically focusing on analyzing the effect of bi-directional communication-induced delays. To mitigate the adverse effects of such delays, a novel…

Aiming at an obstacle avoidance problem with dynamic constraints for Unmanned Surface Vehicle (USV), a method based on Circle Grid Trajectory Cell (CGTC) is proposed. Firstly, the ship model and standardization rules are constructed to…

This paper proposes an optimization-based approach to predict trajectories of autonomous race cars. We assume that the observed trajectory is the result of an optimization problem that trades off path progress against acceleration and jerk…

Road traffic crashes have been the leading cause of death among young people. Most of these accidents occur when the driver becomes distracted due to fatigue or external factors. Vehicle platooning systems such as Cooperative Adaptive…

We explore the potential to control terrain vehicles using deep reinforcement in scenarios where human operators and traditional control methods are inadequate. This letter presents a controller that perceives, plans, and successfully…

Cooperative adaptive cruise control presents an opportunity to improve road transportation through increase in road capacity and reduction in energy use and accidents. Clever design of control algorithms and communication systems is…

For active intervention tasks in underwater environments, the use of autonomous vehicles is just now emerging as an active area of research. During operation, for various reasons, the robot might find itself on a collision course with an…

A general and psychologically plausible collision avoidance driver model can improve transportation safety significantly. Most computational driver models found in the literature have used control theory methods only, and they are not…

Accurate prediction of traffic crash risks for individual vehicles is essential for enhancing vehicle safety. While significant attention has been given to traffic crash risk prediction, existing studies face two main challenges: First, due…

This paper presents a computationally efficient approach for robust Model Predictive Control of nonlinear systems by combining Random Fourier Features with tube-based MPC. Tube-based Model Predictive Control provides robust constraint…

The design of a control architecture for providing the desired motion along with the realization of the joint limitation of a robotic system is still an open challenge in control and robotics. This paper presents a torque control…

A case study is presented of a collision avoidance system that directly integrates the kinematics of a bi-steerable car with a suitable path planning algorithm. The first step is to identify a path using the method of rapidly exploring…

Adaptive control is often used for friction compensation in trajectory tracking tasks because it does not require torque sensors. However, it has some drawbacks: first, the most common certainty-equivalence adaptive control design is based…