36 citations · 113 across the 18 of their papers we have counts for
20 papers
Model Validity in Observers: When to Increase the Complexity of Your Model?
Agapius Bou Ghosn, Philip Polack, Arnaud de La Fortelle
Model validity is key to the accurate and safe behavior of autonomous vehicles. Using invalid vehicle models in the different plan and control vehicle frameworks puts the stability…
A Robust Hybrid Observer for Side-slip Angle Estimation
Agapius Bou Ghosn, Marcus Nolte, Philip Polack +1
For autonomous driving or advanced driving assistance, it is key to monitor the vehicle dynamics behavior. Accurate models of this behavior include acceleration, but also the side-…
The Hybrid Extended Bicycle: A Simple Model for High Dynamic Vehicle Trajectory Planning
Agapius Bou Ghosn, Philip Polack, Arnaud de La Fortelle
While highly automated driving relies most of the time on a smooth driving assumption, the possibility of a vehicle performing harsh maneuvers with high dynamic driving to face une…
Robust LSTM-based Vehicle Velocity Observer for Regular and Near-limits Applications
Agapius Bou Ghosn, Marcus Nolte, Philip Polack +2
Accurate velocity estimation is key to vehicle control. While the literature describes how model-based and learning-based observers are able to estimate a vehicle's velocity in nor…
Learning-based Observer Evaluated on the Kinematic Bicycle Model
Agapius Bou Ghosn, Philip Polack, Arnaud de La Fortelle
The knowledge of the states of a vehicle is a necessity to perform proper planning and control. These quantities are usually accessible through measurements. Control theory brings…
ODD-Centric Contextual Sensitivity Analysis Applied To A Non-Linear Vehicle Dynamics Model
Richard Schubert, Marcus Nolte, Arnaud de La Fortelle +1
Advanced driving functions, for assistance or full automation, require strong guarantees to be deployed. This means that such functions may not be available all the time, like now…
Unsupervised Multi-object Segmentation Using Attention and Soft-argmax
Bruno Sauvalle, Arnaud de La Fortelle
We introduce a new architecture for unsupervised object-centric representation learning and multi-object detection and segmentation, which uses a translation-equivariant attention…
Autoencoder-based background reconstruction and foreground segmentation with background noise estimation
Bruno Sauvalle, Arnaud de La Fortelle
Even after decades of research, dynamic scene background reconstruction and foreground object segmentation are still considered as open problems due various challenges such as illu…
Fusing Laser Scanner and Stereo Camera in Evidential Grid Maps
Michelle Valente, Cyril Joly, Arnaud de la Fortelle
Automation driving techniques have seen tremendous progresses these last years, particularly due to a better perception of the environment. In order to provide safe yet not too con…
Guaranteeing Consistency in a Motion Planning and Control Architecture Using a Kinematic Bicycle Model
Philip Polack, Florent Altché, Brigitte d'Andréa-Novel +1
This paper proposes to combine a 10Hz motion planner based on a kinematic bicycle Model Predictive Control (MPC) and a 100Hz closed-loop Proportional-Integral-Derivative (PID) cont…
Partitioning of the Free Space-Time for On-Road Navigation of Autonomous Ground Vehicles
Florent Altché, Arnaud de La Fortelle
In this article, we consider the problem of trajectory planning and control for on-road driving of an autonomous ground vehicle (AGV) in presence of static or moving obstacles. We…
An Algorithm for Supervised Driving of Cooperative Semi-Autonomous Vehicles (Extended)
Florent Altche, Xiangjun Qian, Arnaud de La Fortelle
Before reaching full autonomy, vehicles will gradually be equipped with more and more advanced driver assistance systems (ADAS), effectively rendering them semi-autonomous. However…
Finite-Time Stabilization of Longitudinal Control for Autonomous Vehicles via a Model-Free Approach
Philip Polack, Brigitte d'Andréa-Novel, Michel Fliess +2
This communication presents a longitudinal model-free control approach for computing the wheel torque command to be applied on a vehicle. This setting enables us to overcome the pr…
High-Speed Trajectory Planning for Autonomous Vehicles Using a Simple Dynamic Model
Florent Altché, Philip Polack, Arnaud de la Fortelle
To improve safety and energy efficiency, autonomous vehicles are expected to drive smoothly in most situations, while maintaining their velocity below a predetermined speed limit.…
A Simple Dynamic Model for Aggressive, Near-Limits Trajectory Planning
Florent Altché, Philip Polack, Arnaud de La Fortelle
In normal on-road situations, autonomous vehicles will be expected to have smooth trajectories with relatively little demand on the vehicle dynamics to ensure passenger comfort and…
Time-optimal Coordination of Mobile Robots along Specified Paths
Florent Altché, Xiangjun Qian, Arnaud de La Fortelle
In this paper, we address the problem of time-optimal coordination of mobile robots under kinodynamic constraints along specified paths. We propose a novel approach based on time d…
Priority-based coordination of autonomous and legacy vehicles at intersection
Xiangjun Qian, Jean Gregoire, Fabien Moutarde +1
Recently, researchers have proposed various autonomous intersection management techniques that enable autonomous vehicles to cross the intersection without traffic lights or stop s…
Optimal cooperative motion planning for vehicles at intersections
Jean Gregoire, Silvère Bonnabel, Arnaud de La Fortelle
We consider the problem of cooperative intersection management. It arises in automated transportation systems for people or goods but also in multi-robots environment. Therefore ma…
Priority-based intersection management with kinodynamic constraints
Jean Gregoire, Silvère Bonnabel, Arnaud de La Fortelle
We consider the problem of coordinating a collection of robots at an intersection area taking into account dynamical constraints due to actuator limitations. We adopt the coordinat…
Robust multirobot coordination using priority encoded homotopic constraints
Jean Gregoire, Silvère Bonnabel, Arnaud de La Fortelle
We study the problem of coordinating multiple robots along fixed geometric paths. Our contribution is threefold. First we formalize the intuitive concept of priorities as a binary…