相关论文: Intent-Aware MPC for Aircraft Detect-and-Avoid wit…

Model predictive control (MPC) is an optimal control method that predicts the future states of the system being controlled and estimates the optimal control inputs that drive the predicted states to the required reference. The computations…

We consider the problem of simultaneous control and parameter estimation when the model is available only as a differentiable physics simulator. We propose a receding-horizon control framework in which a model predictive control (MPC)…

This paper presented a deep reinforcement learning method named Double Deep Q-networks to design an end-to-end vision-based adaptive cruise control (ACC) system. A simulation environment of a highway scene was set up in Unity, which is a…

Unmanned aerial vehicles (UAVs) are increasingly deployed in mission-critical applications such as target tracking, where they must simultaneously sense dynamic environments, ensure reliable communication, and achieve precise control. A key…

Model Predictive Control (MPC) is a computationally demanding control technique that allows dealing with multiple-input and multiple-output systems, while handling constraints in a systematic way. The necessity of solving an optimization…

In this work, we aim to achieve efficient end-to-end learning of driving policies in dynamic multi-agent environments. Predicting and anticipating future events at the object level are critical for making informed driving decisions. We…

Due to excellent mechanism characteristics of high rigidity, maneuverability and strength-to-weight ratio, 6 Degree-of-Freedom (DoF) Stewart structure is widely adopted to construct flight simulator platforms for replicating motion feelings…

In this paper, we investigate joint resource allocation and trajectory design for multi-user multi-target unmanned aerial vehicle (UAV)-enabled integrated sensing and communication (ISAC). To improve sensing accuracy, the UAV is forced to…

Motion Cueing Algorithms (MCAs) encode the movement of simulated vehicles into movement that can be reproduced with a motion simulator to provide a realistic driving experience within the capabilities of the machine. This paper introduces a…

Recent approaches for navigating among dynamic threat regions (i.e., weapon engagement zones) have focused on planning entire trajectories. Moreover, the allowance for penetration into these threat regions was based on heuristic…

Stop-and-go traffic patterns sometimes manifest on roadways without any discernible congestion triggers. Such a phenomenon has been observed on homogeneous ring roads without lane changes. With the development of vehicle technology and…

This paper proposes a non-linear Model Predictive Contouring Control (MPCC) for obstacle avoidance in automated vehicles driven at the limit of handling. The proposed controller integrates motion planning, path tracking and vehicle…

This paper presents a deep reinforcement learning solution for optimizing multi-UAV cell-association decisions and their moving velocity on a 3D aerial highway. The objective is to enhance transportation and communication performance,…

The traditional PCA fault detection methods completely depend on the training data. The prior knowledge such as the physical principle of the system has not been taken into account. In this paper, we propose a new multi-PCA fault detection…

Recently, vision-based control has gained traction by leveraging the power of machine learning. In this work, we couple a model predictive control (MPC) framework to a visual pipeline. We introduce deep optical flow (DOF) dynamics, which is…

We propose a computationally tractable, tube-based robust nonlinear model predictive control (MPC) framework using difference-of-convex (DC) functions and sequential convex programming. For systems with differentiable discrete time…

Vehicle to Vehicle (V2V) communication has a great potential to improve reaction accuracy of different driver assistance systems in critical driving situations. Cooperative Adaptive Cruise Control (CACC), which is an automated application,…

Unmanned Aerial Vehicle (UAV) spectral remote sensing technology is widely used in water quality monitoring. However, in dynamic environments, varying illumination conditions, such as shadows and specular reflection (sun glint), can cause…

Accurate and comprehensive 3D sensing using LiDAR systems is crucial for various applications in photogrammetry and robotics, including facility inspection, Building Information Modeling (BIM), and robot navigation. Motorized LiDAR systems…

Model Predictive Control (MPC) has become a popular framework in embedded control for high-performance autonomous systems. However, to achieve good control performance using MPC, an accurate dynamics model is key. To maintain real-time…