相关论文: Nonlinear Cruise Controllers with Bidirectional Se…
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…
This paper proposes a coordinate-free controller for a nonholonomic vehicle to circumnavigate a fully-actuated moving target by using range-only measurements. If the range rate is available, our Proportional Derivative (PD)-like controller…
In this paper, a steering action-aware Adaptive Cruise Control (ACC) approach for teleoperated road vehicles is proposed. In order to keep the vehicle in a safe state, the ACC approach can override the human operator's velocity control…
In this paper, we apply a Control Lyapunov Function methodology to design two families of cruise controllers for the two-dimensional movement of autonomous vehicles on lane-free roads using the bicycle kinematic model. The control Lyapunov…
A decentralized feedback controller for multi-agent systems, inspired by vehicle platooning, is proposed. The closed loop resulting from the decentralized control action has three distinctive features: the generation of collision-free…
Navigation and guidance of autonomous vehicles is a fundamental problem in robotics, which has attracted intensive research in recent decades. This report is mainly concerned with provable collision avoidance of multiple autonomous vehicles…
Autonomous driving heavily relies on perception systems to interpret the environment for decision-making. To enhance robustness in these safety critical applications, this paper considers a Deep Ensemble of Deep Neural Network regressors…
In order to certify performance and safety, feedback control requires precise characterization of sensor errors. In this paper, we provide guarantees on such feedback systems when sensors are characterized by solving a supervised learning…
This paper introduces a novel approach that seeks a middle ground for traffic control in multi-lane congestion, where prevailing traffic speeds are too fast, and speed recommendations designed to dampen traffic waves are too slow. Advanced…
This paper deals with the problem of string stability in a chain of acceleration-controlled vehicles. It is known that string stability cannot be achieved, with any linear controller, when the vehicles' control inputs are based on relative…
An important question for the practical applicability of the highly efficient traffic intersection control is about the minimal level of intelligence the vehicles need to have so as to move beyond the traffic light control. We propose an…
We consider the approximate control of solitons in generalized Korteweg-de Vries equations. By introducing a suitable internal bilinear control on the equation, we prove that any soliton is locally null controllable, and moreover, any…
This paper presents the state of the art of Adaptive Cruise Control (ACC) and Stop and Go systems as well as Intelligent Transportation Systems enhanced with inter vehicle communication. The sensors used in these systems and the level of…
We present a novel technique to drive a nonlinear system to reach a target state under input constraints. The proposed controller consists only of piecewise constant inputs, generated from a simple linear driftless approximation to the…
This paper presents the development of a tangible platform for demonstrating the practical implementation of cooperative adaptive cruise control (CACC) systems, an enhancement to the standard adaptive cruise control (ACC) concept by means…
We consider a single non-holonomic Dubins-like robot traveling with a constant longitudinal speed in an a priori unknown and unsteady planar environment. The robot should detect, locate, and track the boundary of a dynamic environmental…
This work addresses the problem of constrained motion control of the uncrewed surface vessels. The constraints are imposed on states/inputs of the vehicles due to the physical limitations, mission requirements, and safety considerations. We…
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…
A group of wheeled robots with nonholonomic constraints is considered to rendezvous at a common specified setpoint with a desired orientation while maintaining network connectivity and ensuring collision avoidance within the robots. Given…
This paper investigates control laws allowing mobile, autonomous agents to optimally position themselves on the line for distributed sensing in a nonuniform field. We show that a simple static control law, based only on local measurements…