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We introduce ProbLP, a probabilistic local planner, for safe navigation of an autonomous robot in dynamic, unknown, continuous, and cluttered environments. We combine the proposed reactive planner with an existing global planner and evaluate the hybrid in challenging simulated environments. The experiments show that our method achieves a 77% reduction in collisions over the straight-line local planner...
The means for enhancing the efficiency of rocket propulsion of spacecraft considered in terms of the control of propellant consumption. The second problem lies in maximizing the safety criterion by controlling the shutdown instant of the lower-stage engine by information about the booster phantom velocity and measurements of the propellant component reserves.
In this paper, we focus on practical issues related to the implementation of real time locating systems (RTLS) in the context of vehicle-to-infrastructure (V2I) communication. These emerging concepts are an important part of novel areas such as Smart Cities and Intelligent Transportation Systems (ITS). Some problems encountered during the development of these systems result from the limitations of...
Autonomous Driving (AD) and Advanced Driver Assistance Systems (ADAS) are being vigorously developed for improving traffic safety and transportation efficiency. AD and ADAS need to provide smooth and comfortable driving experiences to drivers and passengers as well as accommodation of other traffic. Individual drivers have different driving styles. This paper proposes a driver-adapted narrow road...
This paper represents a non-cooperative trajectory-planning algorithm for vehicles with consideration of drivers' characteristics. The driver-vehicle model considering driver's different characteristics is applied to formulate a vehicle to vehicle (V2V) encountering system. The non-cooperative control algorithm is employed to plan collision-free trajectories for these encountering vehicles with initial...
This paper presents a new cascade control architecture formulation for addressing the problem of autonomous vehicle trajectory tracking under risk and comfort constraints. The integration of these constraints has been split between an inner and an outer loop. The former is made of a robust controller dedicated to stabilizing the car dynamics while the latter uses a nonlinear Model Predictive Control...
This paper details the design of an autonomous vehicle CAD toolchain, which captures formal descriptions of driving scenarios in order to develop a safety case for an autonomous vehicle (AV). Rather than focus on a particular component of the AV, like adaptive cruise control, the toolchain models the end-to-end dynamics of the AV in a formal way suitable for testing and verification. First, a domain-specific...
Embedded or wearable artificial pancreas (AP) systems must be capable of low energy operation to ameliorate battery depletion and reduce the need for frequent recharge cycles. One of the major contributors to energy drain of such embedded AP systems is the power utilized for wireless communication among the components of the AP: the continuous glucose monitor (CGM), control module, insulin pump, and...
In this paper, a new potential field approach is proposed for trajectory planning and control in autonomous vehicles. The potential field of the surrounding environment is generated including vehicles, road boundaries and lane centers. Based on the predicted positions of the vehicles, the location of the ego vehicle and the surrounding potentials are synchronized. In addition, the potential fields...
The trajectory optimization with dynamic headway for high-speed trains plays an important role in railway operations with the increasing passenger flow. Safety, punctuality, energy saving and comfort are some of the most crucial objectives that are considered in train tracking process in this paper. Primarily, the multi-objective optimization model of tracking train trajectory planning is built under...
Modern unmanned aerial vehicles (UAVs) rely on constant periodic sensor measurements to help avoid obstacles, deal with system disturbances and correct uncertainties. However, constant checking is time and energy consuming and is often not necessary especially in situations in which the UAV can safely fly using open loop control without entering unsafe states. Thus, in this paper we focus on two main...
This paper focuses on the minimum-time trajectory planning for a platoon of autonomous vehicles with rear-end collision avoidance along a given path under velocity and acceleration constraints. Specifically, with the aid of time-optimal path-constrained trajectory planning (TOPCTP) techniques, we present a trajectory planning algorithm to generate time-optimal velocity profiles, which guarantees the...
This paper addresses robust leader-follower formation control problem with prescribed performance and collision avoidance for a group of fully actuated unmanned surface vehicles (USVs). The dynamic surface control (DSC) technique is employed to introduce a first-order low-pass filter in the kinematic design such that the utilization on the leader vehicle's acceleration is avoided in the kinetics control...
Follow the Gap Method (FGM) is a safety-focused geometric obstacle avoidance algorithm for local navigation. In this method, the largest gap around the robot is selected and the robot moves towards a goal point considering the largest gap and minimum distance to obstacle. One of the drawbacks of the method is the extension of the path which sometimes happens unnecessarily. Another drawback comes from...
Traditional transportation systems in metropolitan areas always suffer from energy inefficiencies, evidenced by its uncoordinated behaviors such as system capacity and traffic demand change. With the advanced networked sensors are prevalent deployed into the autonomous vehicles, the information of system status and traffic demand can be collected in real-time. These information provides the potential...
In this paper, we present a novel notion of input-to-state safety (ISSf) for general nonlinear systems which can be useful for certifying system's safety under the influence of external bounded input (or disturbance) signals. We provide sufficient conditions for ISSf using barrier function/certificate which are analogous to the input-to-state stability Lyapunov function.
A covering path generation algorithm is developed to generate a lengthwise pattern based on a polygon describing the outer boundary and obstacles (polygon holes) of a geographical area. The algorithm is applied to an autonomous lawn-care robot for application to large grass turfs, for example golf-courses, which require structured and precise cutting patterns. The geographical polygon is recorded...
This paper presents a distributed force/torque-based UAV(Unmanned Aerial Vehicle) collision avoidance scheme. This scheme is designed to deal in a distributed way with the problem of collisions among rotor craft UAVs, that are sharing the space and flying to different destinations. The proposed scheme has a modular architecture, so that it can be easily included into UAVs with a waypoint controller,...
This article focuses on fuzzy set theory as intelligent tools for navigator's decision-making to improve the safety of marine vessels in collision situations. A lot of progress has been made, especially in the field of artificial intelligence. The paper goal is to develop a decision support system based on artificial intelligence to determine a ship's trajectory in a collision situation. In this present...
Hybrid system is an important mathematical model for Cyber-Physical System, many physical process always modeled by differential equations. The safety verification of those systems become an urgent problem. In this paper we proposed a heuristical method to determine the system defined by nonlinear differential equation is whether safe or not, we consider the Van der Pol equation as a case study to...
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