相关论文: Nonholonomic Narrow Dead-End Escape with Deep Rein…

Neural networks hold great potential to act as approximate models of nonlinear dynamical systems, with the resulting neural approximations enabling verification and control of such systems. However, in safety-critical contexts, the use of…

The paper is concerned with mechanical systems which are controlled by implementing a number of time-dependent, frictionless holonomic constraints. The main novelty is due to the presence of additional non-holonomic constraints. We develop…

We consider task and motion planning in complex dynamic environments for problems expressed in terms of a set of Linear Temporal Logic (LTL) constraints, and a reward function. We propose a methodology based on reinforcement learning that…

Existing Advanced Driver Assistance Systems primarily focus on the vehicle directly ahead, often overlooking potential risks from following vehicles. This oversight can lead to ineffective handling of high risk situations, such as high…

Deep reinforcement learning produces robust locomotion policies for legged robots over challenging terrains. To date, few studies have leveraged model-based methods to combine these locomotion skills with the precise control of…

In the typical autonomous driving stack, planning and control systems represent two of the most crucial components in which data retrieved by sensors and processed by perception algorithms are used to implement a safe and comfortable…

In this paper, we study an affine connection approach to realizing nonholonomic mechanical systems mediated by viscous friction forces with large coefficients, viewed as a singular perturbation of the nonholonomic system. We show that the…

In this paper, we investigate the problem of enabling a drone to fly through a tilted narrow gap, without a traditional planning and control pipeline. To this end, we propose an end-to-end policy network, which imitates from the traditional…

This article establishes the foundation for a new theory of invariant/integral manifolds for non-autonomous dynamical systems. Current rigorous support for dimensional reduction modelling of slow-fast systems is limited by the rare events…

Deep reinforcement learning (DRL) allows a system to interact with its environment and take actions by training an efficient policy that maximizes self-defined rewards. In autonomous driving, it can be used as a strategy for high-level…

We develop data-driven reinforcement learning (RL) control designs for input-affine nonlinear systems. We use Carleman linearization to express the state-space representation of the nonlinear dynamical model in the Carleman space, and…

Mobile robot navigation in complex and dynamic environments is a challenging but important problem. Reinforcement learning approaches fail to solve these tasks efficiently due to reward sparsities, temporal complexities and…

Virtual constraints are invariant relations imposed on a control system via feedback as opposed to real physical constraints acting on the system. Nonholonomic systems are mechanical systems with non-integrable constraints on the…

Safety validation for Level 4 autonomous vehicles (AVs) is currently bottlenecked by the inability to scale the detection of rare, high-risk long-tail scenarios using traditional rule-based heuristics. We present Deep-Flow, an unsupervised…

This paper addresses a safe planning and control problem for mobile robots operating in communication- and sensor-limited dynamic environments. In this case the robots cannot sense the objects around them and must instead rely on…

Autonomous robot navigation systems often rely on hierarchical planning, where global planners compute collision-free paths without considering dynamics, and local planners enforce dynamics constraints to produce executable commands. This…

Collision-free, goal-directed navigation in environments containing unknown static and dynamic obstacles is still a great challenge, especially when manual tuning of navigation policies or costly motion prediction needs to be avoided. In…

Road traffic accidents are a leading cause of fatalities worldwide. In the US, human error causes 94% of crashes, resulting in excess of 7,000 pedestrian fatalities and $500 billion in costs annually. Autonomous Vehicles (AVs) with…

In this paper, we propose a new control design scheme for solving the obstacle avoidance problem for nonlinear driftless control-affine systems. The class of systems under consideration satisfies controllability conditions with iterated Lie…

This paper presents a supervised learning method to generate continuous cost-to-go functions of non-holonomic systems directly from the workspace description. Supervision from informative examples reduces training time and improves network…