相关论文: GP-enhanced Autonomous Drifting Framework using AD…

An accurate vehicle dynamic model is the key to bridge the gap between simulation and real road test in autonomous driving. In this paper, we present a Dynamic model-Residual correction model Framework (DRF) for vehicle dynamic modeling. On…

The accurate prediction of smooth steering inputs is crucial for automotive applications because control actions with jitter might cause the vehicle system to become unstable. To address this problem in automobile lane-keeping control…

Alternating Direction Method of Multipliers (ADMM) has been used successfully in many conventional machine learning applications and is considered to be a useful alternative to Stochastic Gradient Descent (SGD) as a deep learning optimizer.…

As a well-known optimization framework, the Alternating Direction Method of Multipliers (ADMM) has achieved tremendous success in many classification and regression applications. Recently, it has attracted the attention of deep learning…

Extreme cornering in racing often leads to large sideslip angles, presenting a significant challenge for vehicle control. Conventional vehicle controllers struggle to manage this scenario, necessitating the use of a drifting controller.…

Collision avoidance is one of the most challenging tasks people need to consider for developing the self-driving technology. In this paper we propose a new spatiotemporal motion planning algorithm that efficiently solves a constrained…

Hyper-parameter optimization remains as the core issue of Gaussian process (GP) for machine learning nowadays. The benchmark method using maximum likelihood (ML) estimation and gradient descent (GD) is impractical for processing big data…

Optimal control is often used in robotics for planning a trajectory to achieve some desired behavior, as expressed by the cost function. Most works in optimal control focus on finding a single optimal trajectory, which is then typically…

In this paper, we introduce a reduced order model-based reinforcement learning (MBRL) approach, utilizing the Iterative Linear Quadratic Regulator (ILQR) algorithm for the optimal control of nonlinear partial differential equations (PDEs).…

This paper studies the trajectory tracking and motion control problems for autonomous vehicles (AVs). A parameter adaptive control framework for AVs is proposed to enhance tracking accuracy and yaw stability. While establishing linear…

This paper presents a pioneering approach to solving the linear quadratic regulation (LQR) and linear quadratic tracking (LQT) problems with constrained inputs using a novel off-policy continuous-time Q-learning framework. The proposed…

While Graph Neural Networks (GNNs) are popular in the deep learning community, they suffer from several challenges including over-smoothing, over-squashing, and gradient vanishing. Recently, a series of models have attempted to relieve…

We consider the sequence acceleration problem for the alternating direction method-of-multipliers (ADMM) applied to a class of equality-constrained problems with strongly convex quadratic objectives, which frequently arise as the Newton…

Trajectory optimization is a popular strategy for planning trajectories for robotic systems. However, many robotic tasks require changing contact conditions, which is difficult due to the hybrid nature of the dynamics. The optimal sequence…

Automatic Machine Learning (Auto-ML) has attracted more and more attention in recent years, our work is to solve the problem of data drift, which means that the distribution of data will gradually change with the acquisition process,…

Trajectory optimization is becoming increasingly powerful in addressing motion planning problems of underactuated robotic systems. Numerous prior studies solve such a class of large non-convex optimal control problems in a hierarchical…

A classical approach for solving discrete time nonlinear control on a finite horizon consists in repeatedly minimizing linear quadratic approximations of the original problem around current candidate solutions. While widely popular in many…

Collaborative transportation of heavy payloads via loco-manipulation is a challenging yet essential capability for legged robots operating in complex, unstructured environments. Centralized planning methods, e.g., holistic trajectory…

Despite the advancement in the technology of autonomous driving cars, the safety of a self-driving car is still a challenging problem that has not been well studied. Motion prediction is one of the core functions of an autonomous driving…

The modular open-source framework GRAMPC-D for model predictive control of distributed systems is presented in this paper. The modular concept allows to solve optimal control problems (OCP) in a centralized and distributed fashion using the…