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This paper is advocating for joint design of com- munication and control in cyber physical systems, especially self driving automobiles, exploiting adaptive and next generation networking concepts such as mobile edge clouds in 5G commu- nication systems. In this paper, we present our '5G connected- cars' testbed that was demonstrated in multiple international events including the Mobile World Congress,...
Examination of the control of a high-speed vehicle is essential to achieve autonomous navigation on high speed roads. Velocity profile generation is one of the challenging problems. In this paper we analyze the efficiency of an on-line velocity profiler algorithm. The presented method is based on a receding horizon implementation in which the vehicle executes part of the computed optimal trajectory,...
Path planning among obstacles for nonholonomic systems is a widely researched area nowadays, but it is still one of the most challenging problems in autonomous navigation. We have recently presented a rapidly exploring random tree based global planner (RTR) and a steering method (C*CS) for car-like vehicles, which uses circular and straight movements. With the aid of these two methods it is possible...
The need for intelligent autonomous vehicles is increasing in industrial and everyday life as well. Path planning among obstacles is one of the challenging problems to be solved to achieve autonomous navigation. In this paper we present a global geometric path planning method for car-like robots, which proved to be effective especially in cluttered environments, containing narrow passages. Navigation...
This paper presents a comprehensive solution for path planning and control of two popular types of autonomous wheeled vehicles. Differentially driven and car-like motion systems are the most widespread structures among wheeled mobile robots. The planning algorithm employs a rapidly exploring random tree based global planner (RTR), which generates paths made of straight motion and in place turning...
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