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4 papers · 1 filter
Global-State-Free Obstacle Avoidance for Quadrotor Control in Air-Ground Cooperation
Baozhe Zhang, Xinwei Chen, Qingcheng Chen +3
CoNi-MPC provides an efficient framework for UAV control in air-ground cooperative tasks by relying exclusively on relative states, eliminating the need for global state estimation…
A Rapid Iterative Trajectory Planning Method for Automated Parking through Differential Flatness
Zhouheng Li, Lei Xie, Cheng Hu +1
As autonomous driving continues to advance, automated parking is becoming increasingly essential. However, significant challenges arise when implementing path velocity decompositio…
FixDrive: Automatically Repairing Autonomous Vehicle Driving Behaviour for $0.08 per Violation
Yang Sun, Christopher M. Poskitt, Kun Wang +1
Autonomous Vehicles (AVs) are advancing rapidly, with Level-4 AVs already operating in real-world conditions. Current AVs, however, still lag behind human drivers in adaptability a…
Tracailer: An Efficient Trajectory Planner for Tractor-Trailer Robots in Unstructured Environments
Long Xu, Kaixin Chai, Boyuan An +11
The tractor-trailer robot consists of a drivable tractor and one or more non-drivable trailers connected via hitches. Compared to typical car-like robots, the addition of trailers…