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

Autonomous racing creates challenging control problems, but Model Predictive Control (MPC) has made promising steps toward solving both the minimum lap-time problem and head-to-head racing. Yet, accurate models of the system are necessary…

This paper presents the development of a new collaborative road profile estimation and active suspension control framework in connected vehicles, where participating vehicles iteratively refine the road profile estimation and enhance…

Learning-based control has recently shown great efficacy in performing complex tasks for various applications. However, to deploy it in real systems, it is of vital importance to guarantee the system will stay safe. Control Barrier…

A permanently increasing number of on-board automotive control systems requires new approaches to their digital mapping that improves functionality in terms of adaptability and robustness as well as enables their easier on-line software…

We propose Trusted Neural Network (TNN) models, which are deep neural network models that satisfy safety constraints critical to the application domain. We investigate different mechanisms for incorporating rule-based knowledge in the form…

We apply Deep Q-network (DQN) with the consideration of safety during the task for deciding whether to conduct the maneuver. Furthermore, we design two similar Deep Q learning frameworks with quadratic approximator for deciding how to…

Autonomous vehicles (AVs) must share the driving space with other drivers and often employ conservative motion planning strategies to ensure safety. These conservative strategies can negatively impact AV's performance and significantly slow…

Vision guided navigation requires processing complex visual information to inform task-orientated decisions. Applications include autonomous robots, self-driving cars, and assistive vision for humans. A key element is the extraction and…

Multi-Agent Pickup and Delivery (MAPD) is a fundamental problem in robotics, particularly in applications such as warehouse automation and logistics. Existing solutions often face challenges in scalability, adaptability, and efficiency,…

While Model Predictive Control (MPC) enforces safety via constraints, its real-time execution can exceed embedded compute budgets. We propose a Barrier-integrated Adaptive Neural Model Predictive Control (BAN-MPC) framework that synergizes…

This paper introduces a novel approach to PDE boundary control design using neural operators to alleviate stop-and-go instabilities in congested traffic flow. Our framework leverages neural operators to design control strategies for traffic…

In the realm of autonomous driving, conventional approaches for vehicle perception and decision-making primarily rely on sensor input and rule-based algorithms. However, these methodologies often suffer from lack of interpretability and…

The safety-critical nature of adaptive cruise control (ACC) systems calls for systematic design procedures, e.g., based on formal methods or control barrier functions (CBFs), to provide strong guarantees of safety and performance under all…

Guaranteeing safety of perception-based learning systems is challenging due to the absence of ground-truth state information unlike in state-aware control scenarios. In this paper, we introduce a safety guaranteed learning framework for…

In this study, we propose a novel adaptive control architecture, which provides dramatically better transient response performance compared to conventional adaptive control methods. What makes this architecture unique is the synergistic…

This paper addresses the challenge of human-guided navigation for mobile collaborative robots under simultaneous proximity regulation and safety constraints. We introduce Adaptive Reinforcement and Model Predictive Control Switching (ARMS),…

With the increasing deployment of diverse positioning devices and location-based services, a huge amount of spatial and temporal information has been collected and accumulated as trajectory data. Among many applications, trajectory-based…

The multi-robot unlabeled motion planning problem of concurrently assigning robots to goals and generating safe trajectories is central in many collaborative tasks. Recent Graph Neural Network methods offer scalable decentralized solutions…

This paper presents a safety-critical control framework for an ego agent moving among other agents. The approach infers the dynamics of the other agents, and incorporates the inferred quantities into the design of control barrier function…

Artificial Neural Networks (ANNs) are increasingly being used within safety-critical Cyber-Physical Systems (CPSs). They are often co-located with traditional embedded software, and may perform advisory or control-based roles. It is…