相关论文: Neural Network Tire Force Modeling for Automated D…

Data-driven models for predicting dynamic responses of linear and nonlinear systems are of great importance due to their wide application from probabilistic analysis to inverse problems such as system identification and damage diagnosis. In…

We develop a novel physics informed deep learning approach for solving nonlinear drift-diffusion equations on metric graphs. These models represent an important model class with a large number of applications in areas ranging from transport…

Level 5 Autonomous Driving, a technology that a fully automated vehicle (AV) requires no human intervention, has raised serious concerns on safety and stability before widespread use. The capability of understanding and predicting future…

Predicting the future trajectories of the traffic agents is a gordian technique in autonomous driving. However, trajectory prediction suffers from data imbalance in the prevalent datasets, and the tailed data is often more complicated and…

This paper introduces a new method for safety-aware robot learning, focusing on repairing policies using predictive models. Our method combines behavioral cloning with neural network repair in a two-step supervised learning framework. It…

Physics-based simulations are often used to model and understand complex physical systems and processes in domains like fluid dynamics. Such simulations, although used frequently, have many limitations which could arise either due to the…

This paper presents an original approach to vehicle obstacle avoidance. It involves the development of a nonlinear Model Predictive Contouring Control, which uses torque vectoring to stabilise and drive the vehicle in evasive manoeuvres at…

The improvement of traffic efficiency at urban intersections receives strong research interest in the field of automated intersection management. So far, mostly non-learning algorithms like reservation or optimization-based ones were…

This paper proposes a new control strategy to improve vehicle cornering performance in a model predictive control framework. The most distinguishing feature of the proposed method is that the natural handling characteristics of the…

Applying reinforcement learning to robotic systems poses a number of challenging problems. A key requirement is the ability to handle continuous state and action spaces while remaining within a limited time and resource budget.…

We present a library to automatically embed signal processing and neural network predictions into the material robots are made of. Deep and shallow neural network models are first trained offline using state-of-the-art machine learning…

This paper deals with the issue of concept drift in supervised machine learn-ing. We make use of graphical models to elicit the visible structure of the dataand we infer from there changes in the hidden context. Differently from previous…

This paper presents a novel model-reference reinforcement learning control method for uncertain autonomous surface vehicles. The proposed control combines a conventional control method with deep reinforcement learning. With the conventional…

Operating autonomous vehicles at the absolute limits of handling requires precise, real-time identification of highly non-linear tire dynamics. However, traditional online optimization methods suffer from "cold-start" initialization…

While trade-offs between modeling effort and model accuracy remain a major concern with system identification, resorting to data-driven methods often leads to a complete disregard for physical plausibility. To address this issue, we propose…

Autonomous race driving poses a complex control challenge as vehicles must be operated at the edge of their handling limits to reduce lap times while respecting physical and safety constraints. This paper presents a novel reinforcement…

Recent developments in neural networks have shown the potential of estimating drag on irregular rough surfaces. Nevertheless, the difficulty of obtaining a large high-fidelity dataset to train neural networks is deterring their use in…

Trajectory planning in autonomous driving is highly dependent on predicting the emergent behavior of other road users. Learning-based methods are currently showing impressive results in simulation-based challenges, with transformer-based…

In this paper, a computationally efficient data-driven hybrid automaton model is proposed to capture unknown complex dynamical system behaviors using multiple neural networks. The sampled data of the system is divided by valid partitions…

Predicting flood for any location at times of extreme storms is a longstanding problem that has utmost importance in emergency management. Conventional methods that aim to predict water levels in streams use advanced hydrological models…