相关论文: On Disturbance-Aware Minimum-Time Trajectory Plann…

This paper presents a disturbance-aware framework that embeds robustness into minimum-lap-time trajectory optimization for motorsport. Two formulations are introduced. (i) Open-loop, horizon-based covariance propagation uses worst-case…

Autonomous racing is becoming popular for academic and industry researchers as a test for general autonomous driving by pushing perception, planning, and control algorithms to their limits. While traditional control methods such as MPC are…

Accurate and robust trajectory predictions of road users are needed to enable safe automated driving. To do this, machine learning models are often used, which can show erratic behavior when presented with previously unseen inputs. In this…

We present an approach for safe trajectory planning, where a strategic task related to autonomous racing is learned sample-efficient within a simulation environment. A high-level policy, represented as a neural network, outputs a reward…

This study presents a dynamic safety margin-based reinforcement learning framework for local motion planning in dynamic and uncertain environments. The proposed planner integrates real-time trajectory optimization with adaptive gap…

This paper presents an approach to trajectory-centric learning control based on contraction metrics and disturbance estimation for nonlinear systems subject to matched uncertainties. The approach uses deep neural networks to learn uncertain…

Air-land bimodal vehicles provide a promising solution for navigating complex environments by combining the flexibility of aerial locomotion with the energy efficiency of ground mobility. However, planning dynamically feasible, smooth,…

We propose a robust nonlinear model predictive control (MPC) scheme for trajectory-tracking control of autonomous vehicles at the limits of handling on non-planar road surfaces. We derive the dynamics from first principles and selectively…

This paper proposes a robust control strategy that integrates Iterative Learning Control (ILC) with a simple lateral neural network to enhance the trajectory tracking performance of a linear Lorentz force actuator under friction and model…

Road traffic accidents remain a significant global concern, with the majority attributed to human factors such as driver distraction and fatigue. This study proposes a camera-based approach to derive useful indicators to assess driver…

This paper presents a safe learning-based eco-driving framework tailored for mixed traffic flows, which aims to optimize energy efficiency while guaranteeing safety during real-system operations. Even though reinforcement learning (RL) is…

Lattice-based motion planning is a hybrid planning method where a plan made up of discrete actions simultaneously is a physically feasible trajectory. The planning takes both discrete and continuous aspects into account, for example action…

Enhancing the performance of trajectory planners for lane - changing vehicles is one of the key challenges in autonomous driving within human - machine mixed traffic. Most existing studies have not incorporated human drivers' prior…

Making safe and successful lane changes (LCs) is one of the many vitally important functions of autonomous vehicles (AVs) that are needed to ensure safe driving on expressways. Recently, the simplicity and real-time performance of the…

Safety and stability are two critical concerns in pursuit-evasion (PE) problems in an obstacle-rich environment. Most existing works combine control barrier functions (CBFs) and reinforcement learning (RL) to provide an efficient and safe…

Just as humans can become disoriented in featureless deserts or thick fogs, not all environments are conducive to the Localization Accuracy and Stability (LAS) of autonomous robots. This paper introduces an efficient framework designed to…

This work proposes a unified control architecture that couples a Reinforcement Learning (RL)-driven controller with a disturbance-rejection Extended State Observer (ESO), complemented by an Event-Triggered Mechanism (ETM) to limit…

Time-optimal trajectories drive quadrotors to their dynamic limits, but computing such trajectories involves solving non-convex problems via iterative nonlinear optimization, making them prohibitively costly for real-time applications. In…

As a core part of autonomous driving systems, motion planning has received extensive attention from academia and industry. However, real-time trajectory planning capable of spatial-temporal joint optimization is challenged by nonholonomic…

Widespread development of driverless vehicles has led to the formation of autonomous racing, where technological development is accelerated by the high speeds and competitive environment of motorsport. A particular challenge for an…