36 citations · 113 across the 18 of their papers we have counts for
10 papers · 1 filter
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…
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…
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…
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…