相关论文: Inverse RL Scene Dynamics Learning for Nonlinear P…

In this paper, we present a novel guidance scheme based on model-based deep reinforcement learning (RL) technique. With model-based deep RL method, a deep neural network is trained as a predictive model of guidance dynamics which is…

In this paper, we propose an online learning-based predictive control (LPC) approach designed for nonlinear systems that lack explicit system dynamics. Unlike traditional model predictive control (MPC) algorithms that rely on known system…

Vision-based deep learning (DL) methods have made great progress in learning autonomous driving models from large-scale crowd-sourced video datasets. They are trained to predict instantaneous driving behaviors from video data captured by…

Navigating complex environments requires Unmanned Aerial Vehicles (UAVs) and autonomous systems to perform trajectory tracking and obstacle avoidance in real-time. While many control strategies have effectively utilized linear…

Autonomous vehicles have the potential to revolutionize transportation, but they must be able to navigate safely in traffic before they can be deployed on public roads. The goal of this project is to train autonomous vehicles to make…

Learning-based model predictive control (MPC) is an approach designed to reduce the computational cost of MPC. In this paper, a constrained deep neural network (DNN) design is proposed to learn MPC policy for nonlinear systems. Using…

This paper explores the capability of deep neural networks to capture key characteristics of vehicle dynamics, and their ability to perform coupled longitudinal and lateral control of a vehicle. To this extent, two different artificial…

We present a numerically efficient Nonlinear Model Predictive Control (NMPC) approach, called Set Membership based NMPC (SM-NMPC). In particular, a Set Membership method is used to derive from data an approximation and tight bounds on the…

Through deep learning and computer vision techniques, driving manoeuvres can be predicted accurately a few seconds in advance. Even though adapting a learned model to new drivers and different vehicles is key for robust driver-assistance…

Machine learning (ML) and a nonlinear model predictive controller (NMPC) are used in this paper to minimize the emissions and fuel consumption of a compression ignition engine. In this work machine learning is applied in two methods. In the…

Model Predictive Control (MPC) has been widely applied to the motion planning of autonomous vehicles. An MPC-controlled vehicle is required to predict its own trajectories in a finite prediction horizon according to its model. Beyond this,…

Vehicle platooning has been shown to be quite fruitful in the transportation industry to enhance fuel economy, road throughput, and driving comfort. Model Predictive Control (MPC) is widely used in literature for platoon control to achieve…

Learning models for dynamical systems in continuous time is significant for understanding complex phenomena and making accurate predictions. This study presents a novel approach utilizing differential neural networks (DNNs) to model…

Accurate knowledge of the state variables in a dynamical system is critical for effective control, diagnosis, and supervision, especially when direct measurements of all states are infeasible. This paper presents a novel approach to…

In this paper, a learning based Model Predictive Control (MPC) using a low dimensional residual model is proposed for autonomous driving. One of the critical challenge in autonomous driving is the complexity of vehicle dynamics, which…

We develop a data-driven framework for learning and correcting non-autonomous vehicle dynamics. Physics-based vehicle models are often simplified for tractability and therefore exhibit inherent model-form uncertainty, motivating the need…

This study aims to improve the performance and generalization capability of end-to-end autonomous driving with scene understanding leveraging deep learning and multimodal sensor fusion techniques. The designed end-to-end deep neural network…

Unmanned aerospace vehicles usually carry sensors (i.e., electro-optical and/or infrared imaging cameras) as their primary payload. These sensors are used for image processing, target tracking, surveillance, mapping, and providing…

Accurate modeling and control of autonomous vehicles remain a fundamental challenge due to the nonlinear and coupled nature of vehicle dynamics. While Koopman operator theory offers a framework for deploying powerful linear control…

Lane change is a challenging task which requires delicate actions to ensure safety and comfort. Some recent studies have attempted to solve the lane-change control problem with Reinforcement Learning (RL), yet the action is confined to…