相关论文: An Iterative Algorithm to Symbolically Derive Gene…
Human drivers can recognise fast abnormal driving situations to avoid accidents. Similar to humans, automated vehicles are supposed to perform anomaly detection. In this work, we propose the spatio-temporal graph auto-encoder for learning…
Aircraft models may be considered as flat if one neglects some terms associated to aerodynamics. Computational experiments in Maple show that in some cases a suitably designed feed-back allows to follow such trajectories, when applied to…
We study the derivation of generic high order macroscopic traffic models from a follow-the-leader particle description via a kinetic approach. First, we recover a third order traffic model as the hydrodynamic limit of an Enskog-type kinetic…
We leverage game theory and a new vehicle modeling approach to compute overtaking maneuvers for racecars on a nonplanar surface. We solve for equilibria between noncooperative racing agents and demonstrate that by leveraging the novel…
We present a novel approach for solving articulated inverse kinematic problems (e.g., character structures) by means of an iterative dual-quaternion and exponentialmapping approach. As dual-quaternions are a break from the norm and offer a…
Scaling adaptive traffic-signal control involves dealing with combinatorial state and action spaces. Multi-agent reinforcement learning attempts to address this challenge by distributing control to specialized agents. However,…
The goal of this paper is to determine the laws of observed trajectories assuming that there is a mechanical system in the background and using these laws to continue the observed motion in a plausible way. The laws are represented by…
Railway running gears with independently rotating wheels (IRW) can significantly improve wear figures, comfort, and safety in railway transportation, but certain measures for wheelset stabilization are required. This is one reason why the…
An image-based control strategy along with estimation of target motion is developed to track dynamic targets without motion constraints. To the best of our knowledge, this is the first work that utilizes a bounding box as image features for…
Autonomous agents operating in public spaces must consider how their behaviors might affect the humans around them, even when not directly interacting with them. To this end, it is often beneficial to be predictable and appear naturalistic.…
In this work, an extension to the standard iterative Boltzmann inversion (IBI) method to derive coarse-grained potentials is proposed. It is shown that the inclusion of target data from multiple states yields a less state-dependent…
Quadruped robots face limitations in long-range navigation efficiency due to their reliance on legs. To ameliorate the limitations, we introduce a Reinforcement Learning-based Active Transporter Riding method (\textit{RL-ATR}), inspired by…
This paper addresses the problem of traffic prediction and control of autonomous vehicles on highways. A modified Interacting Multiple Model Kalman filter algorithm is applied to predict the motion behavior of the traffic participants by…
Recent investigations on the longitudinal and lateral control of wheeled autonomous vehicles are reported. Flatness-based techniques are first introduced via a simplified model. It depends on some physical parameters, like cornering…
A new primary torque control concept for hydrostatics mobile machines was introduced in 2018. The mentioned concept controls the pressure in a closed circuit by changing the angle of the hydraulic pump to achieve the desired pressure based…
The control of legged robots, particularly humanoid and quadruped robots, presents significant challenges due to their high-dimensional and nonlinear dynamics. While linear systems can be effectively controlled using methods like Model…
We introduce two novel generalizations of the Koopman operator method of nonlinear dynamic modeling. Each of these generalizations leads to greatly improved predictive performance without sacrificing a unique trait of Koopman methods: the…
Discrete dynamical systems in which model components take on categorical values have been successfully applied to biological networks to study their global dynamic behavior. Boolean models in particular have been used extensively. However,…
In this paper we present a Boltzmann-type kinetic approach to the modelling of road traffic, which includes control strategies at the level of microscopic binary interactions aimed at the mitigation of speed-dependent road risk factors.…
This paper proposes a solution to the attitude tracking problem for a novel quadrotor tailsitter unmanned aerial vehicle called swiveling biplane quadrotor. The proposed vehicle design addresses the lack of yaw control authority in…