相关论文: Robust path following for autonomous vehicles with…
Ensuring safety and driving consistency is a significant challenge for autonomous vehicles operating in partially observed environments. This work introduces a consistent parallel trajectory optimization (CPTO) approach to enable safe and…
Recent advancements in self-driving car technologies have enabled them to navigate autonomously through various environments. However, one of the critical challenges in autonomous vehicle operation is trajectory planning, especially in…
Autonomous sailboats are well suited for long-duration ocean observation due to their wind-driven endurance. However, their performance is highly anisotropic and strongly influenced by inhomogeneous and time-varying wind and current fields,…
This paper proposes a method for formation path following control of a fleet of underactuated autonomous underwater vehicles. The proposed method combines several hierarchic tasks in a null space-based behavioral algorithm to safely guide…
In hybrid force-velocity control, the robot can use velocity control in some directions to follow a trajectory, while performing force control in other directions to maintain contacts with the environment regardless of positional errors. We…
We study the problem of coordinating multiple robots along fixed geometric paths. Our contribution is threefold. First we formalize the intuitive concept of priorities as a binary relation induced by a feasible coordination solution,…
The Topological complexity a la Farber $\text{TC}(-)$ is a homotopy invariant which have interesting applications in Robotics, specifically, in the robot motion planning problem. In this work we calculate the topological complexity of the…
Autonomous marine vessels are expected to avoid inter-vessel collisions and comply with the international regulations for safe voyages. This paper presents a stepwise path planning method using stream functions. The dynamic flow of fluids…
Multi-UAV systems are safety-critical, and guarantees must be made to ensure no unsafe configurations occur. Hamilton-Jacobi (HJ) reachability is ideal for analyzing such safety-critical systems; however, its direct application is limited…
This article focuses on integrating path-planning and control with specializing on the unique needs of robotic unicycles. A unicycle design is presented which is capable of accelerating/breaking and carrying out a variety of maneuvers. The…
In this contribution, we introduce a general class of car-following models with an input-state-output port-Hamiltonian structure. We derive stability conditions and long-term behavior of the finite system with periodic boundaries and…
Using a designed vector field to control a mobile robot to follow a given desired path is intuitive and practical, and to build a rigorous theory to guide its implementation is essential. In this paper, we study the properties of a general…
Safe navigation within a workspace is a fundamental skill for autonomous robots to accomplish more complex tasks. Harmonic potentials are artificial potential fields that are analytical, globally convergent and provably free of local…
This work develops a robust nonlinear Model Predictive Control (MPC) framework for path tracking in autonomous vehicles operating at the limits of handling utilizing a Control Contraction Metric (CCM) derived from a perturbed dynamic single…
This work introduces a novel paradigm for solving optimal control problems for hybrid dynamical systems under uncertainties. Robotic systems having contact with the environment can be modeled as hybrid systems. Controller design for hybrid…
Planning a safe and feasible trajectory for autonomous vehicles in real-time by fully utilizing perceptual information in complex urban environments is challenging. In this paper, we propose a spatio-temporal trajectory planning method…
This paper considers the problem of fast and safe autonomous navigation in partially known environments. Our main contribution is a control policy design based on ellipsoidal trajectory bounds obtained from a quadratic state-dependent…
We present a novel method of optimal robust control through quadratic programs that offers tracking stability while subject to input and state-based constraints as well as safety-critical constraints for nonlinear dynamical robotic systems…
In this article, we propose an optimization-based integrated behavior planning and motion control scheme, which is an interpretable and adaptable urban autonomous driving solution that complies with complex traffic rules while ensuring…
Provably safe and scalable multi-vehicle path planning is an important and urgent problem due to the expected increase of automation in civilian airspace in the near future. Although this problem has been studied in the past, there has not…