The safety filter: A unified view of safety-critical control in autonomous systems
Recent years have seen significant progress in the realm of robot autonomy, accompanied
by the expanding reach of robotic technologies. However, the emergence of new …
by the expanding reach of robotic technologies. However, the emergence of new …
Energy saving potentials of connected and automated vehicles
A Vahidi, A Sciarretta - Transportation Research Part C: Emerging …, 2018 - Elsevier
Connected and automated vehicles (CAV) are marketed for their increased safety, driving
comfort, and time saving potential. With much easier access to information, increased …
comfort, and time saving potential. With much easier access to information, increased …
Stochastic model predictive control: An overview and perspectives for future research
A Mesbah - IEEE Control Systems Magazine, 2016 - ieeexplore.ieee.org
Model predictive control (MPC) has demonstrated exceptional success for the high-
performance control of complex systems. The conceptual simplicity of MPC as well as its …
performance control of complex systems. The conceptual simplicity of MPC as well as its …
A potential field-based model predictive path-planning controller for autonomous road vehicles
Y Rasekhipour, A Khajepour, SK Chen… - IEEE Transactions on …, 2016 - ieeexplore.ieee.org
Artificial potential fields and optimal controllers are two common methods for path planning
of autonomous vehicles. An artificial potential field method is capable of assigning different …
of autonomous vehicles. An artificial potential field method is capable of assigning different …
Trajectory planning and tracking for autonomous overtaking: State-of-the-art and future prospects
Trajectory planning and trajectory tracking constitute two important functions of an
autonomous overtaking system and a variety of strategies have been proposed in the …
autonomous overtaking system and a variety of strategies have been proposed in the …
Stochastic model predictive control with a safety guarantee for automated driving
T Brüdigam, M Olbrich, D Wollherr… - IEEE Transactions on …, 2021 - ieeexplore.ieee.org
Automated vehicles require efficient and safe planning to maneuver in uncertain
environments. Largely this uncertainty is caused by other traffic participants, eg, surrounding …
environments. Largely this uncertainty is caused by other traffic participants, eg, surrounding …
Lane change maneuvers for automated vehicles
J Nilsson, M Brännström, E Coelingh… - IEEE Transactions on …, 2016 - ieeexplore.ieee.org
By considering a lane change maneuver as primarily a longitudinal motion planning
problem, this paper presents a lane change maneuver algorithm with a pragmatic approach …
problem, this paper presents a lane change maneuver algorithm with a pragmatic approach …
Stochastic model-predictive control for lane change decision of automated driving vehicles
This paper describes lane change motion planning with a combination of probabilistic and
deterministic prediction for automated driving under complex driving circumstances. The …
deterministic prediction for automated driving under complex driving circumstances. The …
Automated driving: The role of forecasts and uncertainty—A control perspective
Driving requires forecasts. Forecasted movements of objects in the driving scene are
uncertain. Inevitably, decision and control algorithms for autonomous driving need to cope …
uncertain. Inevitably, decision and control algorithms for autonomous driving need to cope …
Scenario model predictive control for lane change assistance and autonomous driving on highways
This paper presents a novel design of control algorithms for lane change assistance and
autonomous driving on highways, based on recent results in Scenario Model Predictive …
autonomous driving on highways, based on recent results in Scenario Model Predictive …