相关论文: An Explicit Discrete-Time Dynamic Vehicle Model wi…

In this paper, we study the qualitative behaviour of approximation schemes for Backward Stochastic Differential Equations (BSDEs) by introducing a new notion of numerical stability. For the Euler scheme, we provide sufficient conditions in…

This paper presents a new method for anomaly detection in automated systems with time and compute sensitive requirements, such as autonomous driving, with unparalleled efficiency. As systems like autonomous driving become increasingly…

Simulation is crucial in the development of autonomous driving software. In particular, assessing control algorithms requires an accurate vehicle dynamics simulation. However, recent publications use models with varying levels of detail.…

Recent investigations on the longitudinal and lateral control of wheeled autonomous vehicles are reported. Flatness-based techniques are first introduced via a simplified model. It depends on some physical parameters, like cornering…

The development of control techniques to maintain vehicle stability under possible loss-of-control scenarios is essential to the safe deployment of autonomous ground vehicles in public scenarios. In this paper, we propose a tube-based…

We present a method for providing statistical guarantees on runtime safety and goal reachability for integrated planning and control of a class of systems with unknown nonlinear stochastic underactuated dynamics. Specifically, given a…

Model-based approaches have become increasingly popular in the domain of automated driving. This includes runtime algorithms, such as Model Predictive Control, as well as formal and simulative approaches for the verification of automated…

We extend the notion of numerical stability of finite difference approximations to include hyperbolic systems that are first order in time and second order in space, such as those that appear in Numerical Relativity. By analyzing the symbol…

This paper presents a novel approach to automated drifting with a standard passenger vehicle, which involves a Nonlinear Model Predictive Control to stabilise and maintain the vehicle at high sideslip angle conditions. The proposed…

Obtaining dynamics models is essential for robotics to achieve accurate model-based controllers and simulators for planning. The dynamics models are typically obtained using model specification of the manufacturer or simple numerical…

Information about the vehicle sideslip angle is crucial for the successful implementation of advanced stability control systems. In production vehicles, sideslip angle is difficult to measure within the desired accuracy level because of…

There are recent shifts in demand for design controllers from simplified to complex model-based. Although simplification approaches are successful in many areas of engineering control systems, high-fidelity simulation-based control design,…

The design process and complexity of existing safety controls are heavily determined by the geometrical properties of the environment, which affects the proof of convergence, design scalability, performance robustness, and numerical…

Model validity is key to the accurate and safe behavior of autonomous vehicles. Using invalid vehicle models in the different plan and control vehicle frameworks puts the stability of the vehicle, and thus its safety at stake. In this work,…

Existing intelligent driving technology often has a problem in balancing smooth driving and fast obstacle avoidance, especially when the vehicle is in a non-structural environment, and is prone to instability in emergency situations.…

This paper is concerned with the problem of robust reliable control for a class of uncertain 2D discrete switched systems with state delays represented by a model of Roesser type. The parameter uncertainties are assumed to be norm-bounded.…

Providing guarantees on the safe operation of robots against edge cases is challenging as testing methods such as traditional Monte-Carlo require too many samples to provide reasonable statistics. Built upon recent advancements in…

The optimal control of a mechanical system is of crucial importance in many realms. Typical examples are the determination of a time-minimal path in vehicle dynamics, a minimal energy trajectory in space mission design, or optimal motion…

In this paper, we propose a new approach to prove stability of non-linear discrete-time systems. After introducing the new concept of stability contractor, we show that the interval centred form plays a fundamental role in this context and…

The accurate characterization of tire dynamics is critical for advancing control strategies in autonomous road vehicles, as tire behavior significantly influences handling and stability through the generation of forces and moments at the…