相关论文: Towards Safe Path Tracking Using the Simplex Archi…

We address the problem of coordination and control of Connected and Automated Vehicles (CAVs) in the presence of imperfect observations in mixed traffic environment. A commonly used approach is learning-based decision-making, such as…

The design of tracking controllers that closely follow a reference trajectory while ensuring safety and robustness against disturbances is a challenging problem in the control of autonomous systems. In this work, we propose a neural…

A safe and efficient decision-making system is crucial for autonomous vehicles. However, the complexity of driving environments limits the effectiveness of many rule-based and machine learning approaches. Reinforcement Learning (RL), with…

Robot navigation requires an autonomy pipeline that is robust to environmental changes and effective in varying conditions. Teach and Repeat (T&R) navigation has shown high performance in autonomous repeated tasks under challenging…

Trajectory planning for mobile robots in cluttered environments remains a major challenge due to narrow passages, where conventional methods often fail or generate suboptimal paths. To address this issue, we propose the adaptive trajectory…

Planning and control for autonomous vehicles usually are hierarchical separated. However, increasing performance demands and operating in highly dynamic environments requires an frequent re-evaluation of the planning and tight integration…

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…

Action anticipation, intent prediction, and proactive behavior are all desirable characteristics for autonomous driving policies in interactive scenarios. Paramount, however, is ensuring safety on the road -- a key challenge in doing so is…

Action anticipation, intent prediction, and proactive behavior are all desirable characteristics for autonomous driving policies in interactive scenarios. Paramount, however, is ensuring safety on the road --- a key challenge in doing so is…

Soft robotic manipulators offer operational advantage due to their compliant and deformable structures. However, their inherently nonlinear dynamics presents substantial challenges. Traditional analytical methods often depend on simplifying…

Automation of berthing maneuvers in shipping is a pressing issue as the berthing maneuver is one of the most stressful tasks seafarers undertake. Berthing control problems are often tackled via tracking a predefined trajectory or path.…

Safety and stability are common requirements for robotic control systems; however, designing safe, stable controllers remains difficult for nonlinear and uncertain models. We develop a model-based learning approach to synthesize robust…

Sociability is essential for modern robots to increase their acceptability in human environments. Traditional techniques use manually engineered utility functions inspired by observing pedestrian behaviors to achieve social navigation.…

While reinforcement learning has made great improvements, state-of-the-art algorithms can still struggle with seemingly simple set-point feedback control problems. One reason for this is that the learned controller may not be able to excite…

In this paper, we consider the problem of building learning agents that can efficiently learn to navigate in constrained environments. The main goal is to design agents that can efficiently learn to understand and generalize to different…

Over the years, complex control approaches have been developed to control the motion of a bicycle. Reinforcement Learning (RL), a branch of machine learning, promises easy deployment of so-called agents. Deployed agents are increasingly…

We study the problem of policy repair for learning-based control policies in safety-critical settings. We consider an architecture where a high-performance learning-based control policy (e.g. one trained as a neural network) is paired with…

In this paper, we develop safe reinforcement-learning-based controllers for systems tasked with accomplishing complex missions that can be expressed as linear temporal logic specifications, similar to those required by search-and-rescue…

We develop a control algorithm that ensures the safety, in terms of confinement in a set, of a system with unknown, 2nd-order nonlinear dynamics. The algorithm establishes novel connections between data-driven and robust, nonlinear control.…

Safe navigation is essential for autonomous systems operating in hazardous environments. Traditional planning methods excel at long-horizon tasks but rely on a predefined graph with fixed distance metrics. In contrast, safe Reinforcement…