相关论文: Model Predictive Control for Cooperative Docking B…

We introduce the novel concept of Spatial Predictive Control (SPC) to solve the following problem: given a collection of agents (e.g., drones) with positional low-level controllers (LLCs) and a mission-specific distributed cost function,…

This paper investigates the cooperative control of multiple unmanned and manned vehicles via an output containment control approach for heterogeneous discrete-time multiagent systems. The unmanned vehicles act as leading vehicles to guide…

A two-phase model predictive controller (MPC) is proposed for underactuated surface vessel operation in confined environments. For general driving maneuvers (phase one) the ship's geometry is not considered explicitly while in more…

This paper presents a stochastic, model predictive control (MPC) algorithm that leverages short-term probabilistic forecasts for dispatching and rebalancing Autonomous Mobility-on-Demand systems (AMoD, i.e. fleets of self-driving vehicles).…

Lane changing and lane merging remains a challenging task for autonomous driving, due to the strong interaction between the controlled vehicle and the uncertain behavior of the surrounding traffic participants. The interaction induces a…

In a mixed traffic with connected automated vehicles (CAVs) and human-driven vehicles (HDVs) coexisting, data-driven predictive control of CAVs promises system-wide traffic performance improvements. Yet, most existing approaches focus on a…

This paper presents a novel model predictive control (MPC) approach for autonomous pick-and-place between moving platforms with a hook-equipped aerial manipulator. First, for accurate and rapid modeling of the complex dynamics, a digital…

Co-optimization of both vehicle speed and gear position via model predictive control (MPC) has been shown to offer benefits for fuel-efficient autonomous driving. However, optimizing both the vehicle's continuous dynamics and discrete gear…

This article considers collision avoidance (COLAV) for both static and moving obstacles using the branching-course model predictive control (BC-MPC) algorithm, which is designed for use by autonomous surface vehicles (ASVs). The BC-MPC…

Cooperative coordination at unsignalized road intersections, which aims to improve the driving safety and traffic throughput for connected and automated vehicles, has attracted increasing interests in recent years. However, most existing…

Non-navigable rivers and retention ponds play important roles in buffering communities from flooding, yet emergency planners often have no data as to the volume of water that they can carry before flooding the surrounding. This paper…

We propose a fully distributed control system architecture, amenable to in-vehicle implementation, that aims to safely coordinate connected and automated vehicles (CAVs) at road intersections. For control purposes, we build upon a fully…

Repeated exploration of a water surface to detect objects of interest and their subsequent monitoring is important in search-and-rescue or ocean clean-up operations. Since the location of any detected object is dynamic, we propose to…

Cooperative control of groups of autonomous vehicles (AVs), i.e., platoons, is a promising direction to improving the efficiency of autonomous transportation systems. In this context, distributed co-optimization of both vehicle speed and…

Cooperatively avoiding collision is a critical functionality for robots navigating in dense human crowds, failure of which could lead to either overaggressive or overcautious behavior. A necessary condition for cooperative collision…

Unmanned surface vehicles (USVs) and boats are increasingly important in maritime operations, yet their deployment is limited due to costly sensors and complexity. LiDAR, radar, and depth cameras are either costly, yield sparse point clouds…

In this paper, a model predictive control (MPC) framework is employed to realize autonomous rendezvous and docking (AR&D) with a tumbling target, using the piecewise affine (PWA) model of the 3-D line-of-sight (LOS) dynamics and Euler…

The full deployment of autonomous driving systems on a worldwide scale requires that the self-driving vehicle be operated in a provably safe manner, i.e., the vehicle must be able to avoid collisions in any possible traffic situation. In…

Motion control of underwater robotic vehicles is a demanding task with great challenges imposed by external disturbances, model uncertainties and constraints of the operating workspace. Thus, robust motion control is still an open issue for…

Vision-based target tracking is crucial for unmanned surface vehicles (USVs) to perform tasks such as inspection, monitoring, and surveillance. However, real-time tracking in complex maritime environments is challenging due to dynamic…