相关论文: Neural Process-Based Reactive Controller for Auton…

In safety-critical systems that interface with the real world, the role of uncertainty in decision-making is pivotal, particularly in the context of machine learning models. For the secure functioning of Cyber-Physical Systems (CPS), it is…

Autonomous driving is a complex and highly dynamic process that ensures controlling the coupled longitudinal and lateral vehicle dynamics. Model predictive control, distinguished by its predictive feature, optimal performance, and ability…

This research considers the problem of identifying safety constraints and developing Run Time Assurance (RTA) for Deep Reinforcement Learning (RL) Tactical Autopilots that use neural network control systems (NNCS). This research studies a…

Safe navigation for an ego vehicle in uncertain environments characterized by dynamic obstacles with unknown nonlinear dynamics is a challenging problem of significant practical interest. Existing approaches in the literature either lack…

As the horizon of intelligent transportation expands with the evolution of Automated Driving Systems (ADS), ensuring paramount safety becomes more imperative than ever. Traditional risk assessment methodologies, primarily crafted for…

Continuous-time nonlinear optimal control problems hold great promise in real-world applications. After decades of development, reinforcement learning (RL) has achieved some of the greatest successes as a general nonlinear control design…

This paper proposes an adaptive neural network-based backstepping controller that uses rigid graph theory to address the distance-based formation control problem and target tracking for nonlinear multi-agent systems with bounded time-delay…

Achieving rapid and effective active collision avoidance in dynamic interactive traffic remains a core challenge for autonomous driving. This paper proposes REACT (Runtime-Enabled Active Collision-avoidance Technique), a closed-loop…

Ensuring safety in the sense of constraint satisfaction for learning-based control is a critical challenge, especially in the model-free case. While safety filters address this challenge in the model-based setting by modifying unsafe…

A safe and robust on-road navigation system is a crucial component of achieving fully automated vehicles. NVIDIA recently proposed an End-to-End algorithm that can directly learn steering commands from raw pixels of a front camera by using…

In recent years, artificial neural networks have been increasingly studied as feedback controllers for guidance problems. While effective in complex scenarios, they lack the verification guarantees found in classical guidance policies.…

Recently, vision-based control has gained traction by leveraging the power of machine learning. In this work, we couple a model predictive control (MPC) framework to a visual pipeline. We introduce deep optical flow (DOF) dynamics, which is…

This paper presents a novel approach to Autonomous Vehicle (AV) control through the application of active inference, a theory derived from neuroscience that conceptualizes the brain as a predictive machine. Traditional autonomous driving…

In this paper, we present a Deep Reinforcement Learning (RL)-driven Adaptive Stochastic Nonlinear Model Predictive Control (SNMPC) to optimize uncertainty handling, constraints robustification, feasibility, and closed-loop performance. To…

The active inference framework (AIF) is a promising new computational framework grounded in contemporary neuroscience that can produce human-like behavior through reward-based learning. In this study, we test the ability for the AIF to…

Advanced Driver Assistance Systems (ADAS) are increasingly important in improving driving safety and comfort, with Adaptive Cruise Control (ACC) being one of the most widely used. However, pre-defined ACC settings may not always align with…

This paper deals with traffic control at motorway bottlenecks assuming the existence of an unknown, time-varying, Fundamental Diagram (FD). The FD may change over time due to different traffic compositions, e.g., light and heavy vehicles,…

Artificial Neural Network (ANN) is a simple network that has an input, an output, and numerous hidden layers with a set of nodes. Implementation of ANN algorithms in electrical, and electronics engineering always satisfies with the expected…

This paper proposes an end-to-end deep reinforcement learning approach for mobile robot navigation with dynamic obstacles avoidance. Using experience collected in a simulation environment, a convolutional neural network (CNN) is trained to…

We study the prescribed-time reach-avoid (PT-RA) control problem for nonlinear systems with unknown dynamics operating in environments with moving obstacles. Unlike robust or learning based Control Barrier Function (CBF) methods, the…