Publications (13)
Control Barrier Functions for Shared Control and Vehicle Safety
James Dallas, John Talbot, Makoto Suminaka +4
This manuscript presents a control barrier function based approach to shared control for preventing a vehicle from entering the part of the state space where it is unrecoverable. T…
Statistical Quality Comparison of the Bitstrings Generated by a Physical Unclonable Function across Xilinx, Altera and Microsemi Devices
Jenilee Jao, Kristi Hoffman, Cheryl Reid +3
Entropy or randomness represents a foundational security property in security-related operations, such as key generation. Key generation in turn is central to security protocols su…
Risk-Averse Model Predictive Control for Racing in Adverse Conditions
Thomas Lew, Marcus Greiff, Franck Djeumou +3
Model predictive control (MPC) algorithms can be sensitive to model mismatch when used in challenging nonlinear control tasks. In particular, the performance of MPC for vehicle con…
Improving Deep Dynamics Models for Autonomous Vehicles with Multimodal Latent Mapping of Surfaces
Johan Vertens, Nicolai Dorka, Tim Welschehold +2
The safe deployment of autonomous vehicles relies on their ability to effectively react to environmental changes. This can require maneuvering on varying surfaces which is still a…
Spatial Envelope MPC: High Performance Driving without a Reference
Siyuan Yu, Congkai Shen, Yufei Xi +5
This paper presents a novel envelope based model predictive control (MPC) framework designed to enable autonomous vehicles to handle high performance driving across a wide range of…
First, Learn What You Don't Know: Active Information Gathering for Driving at the Limits of Handling
Alexander Davydov, Franck Djeumou, Marcus Greiff +4
Combining data-driven models that adapt online and model predictive control (MPC) has enabled effective control of nonlinear systems. However, when deployed on unstable systems, on…