相关论文: DTR: Delaunay Triangulation-based Racing for Scale…

Smart traffic lights in intelligent transportation systems (ITSs) are envisioned to greatly increase traffic efficiency and reduce congestion. Deep reinforcement learning (DRL) is a promising approach to adaptively control traffic lights…

Mobile robots frequently navigate on roadmaps, i.e., graphs where edges represent safe motions, in applications such as healthcare, hospitality, and warehouse automation. Often the environment is quasi-static, i.e., it is sufficient to…

This paper proposes a distributed model predictive control (DMPC) approach for an urban traffic network (UTN) system. The control objective is to minimize the traffic congestion and the total travel time spent (TTS) in each link. The…

Attention-based neural architectures have become central to state-of-the-art methods in real-time nonlinear control. As these data-driven models continue to be integrated into increasingly safety-critical domains, ensuring statistically…

A new interactive approach to navigate on approximations of in general non-convex but connected Pareto fronts is introduced. Given a finite number of precalculated representative Pareto-efficient solutions, an adapted Delaunay triangulation…

This study presents the first experimental implementation of deep reinforcement learning (DRL) for the active real-time suppression of flow-induced vibrations in simultaneously vibrating tandem cylinders using rotary actuation, considering…

The problem of regulation of the orientation angle of a remotely controlled differential-drive mobile robot with actuator dynamics and network-induced delays is studied. Using a preinstalled two-layer nonlinear control scheme that decouples…

This paper presents a unified planning-control strategy for competing with other racing cars called IteraOptiRacing in autonomous racing environments. This unified strategy is proposed based on Iterative Linear Quadratic Regulator for…

Social Delay Tolerant Networks (SDTNs) are a special kind of Delay Tolerant Network (DTN) that consists of a number of mobile devices with social characteristics. The current research achievements on routing algorithms tend to separately…

We present a system that enables an autonomous small-scale RC car to drive aggressively from visual observations using reinforcement learning (RL). Our system, FastRLAP (faster lap), trains autonomously in the real world, without human…

Conditional computation for Deep Neural Networks (DNNs) reduce overall computational load and improve model accuracy by running a subset of the network. In this work, we present a runtime throttleable neural network (TNN) that can…

This paper presents a global trajectory optimization framework for minimizing lap time in autonomous racing under uncertain vehicle dynamics. Optimizing the trajectory over the full racing horizon is computationally expensive, and tracking…

Autonomous harvesting and transportation is a long-term goal of the forest industry. One of the main challenges is the accurate localization of both vehicles and trees in a forest. Forests are unstructured environments where it is difficult…

The development of vehicle controllers for autonomous racing is challenging because racing cars operate at their physical driving limit. Prompted by the demand for improved performance, autonomous racing research has seen the proliferation…

Traffic scenarios in roundabouts pose substantial complexity for automated driving. Manually mapping all possible scenarios into a state space is labor-intensive and challenging. Deep reinforcement learning (DRL) with its ability to learn…

This paper introduces deep neural networks (DNNs) as add-on blocks to baseline feedback control systems to enhance tracking performance of arbitrary desired trajectories. The DNNs are trained to adapt the reference signals to the feedback…

Recent analyses highlight challenges in autonomous vehicle technologies, particularly failures in decision-making under dynamic or emergency conditions. Traditional automated driving systems recalculate the entire trajectory in a changing…

Current AI systems at the tactical edge lack the computational resources to support in-situ training and inference for situational awareness, and it is not always practical to leverage backhaul resources due to security, bandwidth, and…

Self-triggered control (STC) is a resource efficient approach to determine sampling instants for Networked Control Systems (NCS). Recently, a dynamic STC strategy based on hybrid Lyapunov functions for nonlinear NCS has been proposed in…

Autonomous racing provides the opportunity to test safety-critical perception pipelines at their limit. This paper describes the practical challenges and solutions to applying state-of-the-art computer vision algorithms to build a…