41 citations · 211 across the 45 of their papers we have counts for
6 papers · 1 filter
Kinodynamic Motion Planning via Funnel Control for Underactuated Unmanned Surface Vehicles
Dženan Lapandić, Christos K. Verginis, Dimos V. Dimarogonas +1
We develop an algorithm to control an underactuated unmanned surface vehicle (USV) using kinodynamic motion planning with funnel control (KDF). KDF has two key components: motion p…
Diagnosing and Augmenting Feature Representations in Correctional Inverse Reinforcement Learning
Inês Lourenço, Andreea Bobu, Cristian R. Rojas +1
Robots have been increasingly better at doing tasks for humans by learning from their feedback, but still often suffer from model misalignment due to missing or incorrectly learned…
Interaction and Decision Making-aware Motion Planning using Branch Model Predictive Control
Rui Oliveira, Siddharth H. Nair, Bo Wahlberg
Motion planning for autonomous vehicles sharing the road with human drivers remains challenging. The difficulty arises from three challenging aspects: human drivers are 1) multi-mo…
A Geometric Approach to On-road Motion Planning for Long and Multi-Body Heavy-Duty Vehicles
Rui Oliveira, Oskar Ljungqvist, Pedro F. Lima +2
Driving heavy-duty vehicles, such as buses and tractor-trailer vehicles, is a difficult task in comparison to passenger cars. Most research on motion planning for autonomous vehicl…
Optimization-Based On-Road Path Planning for Articulated Vehicles
Rui Oliveira, Oskar Ljungqvist, Pedro F. Lima +1
Maneuvering an articulated vehicle on narrow road stretches is often a challenging task for a human driver. Unless the vehicle is accurately steered, parts of the vehicle's bodies…
Path Planning for Autonomous Bus Driving in Urban Environments
Rui Oliveira, Pedro F. Lima, Gonçalo Collares Pereira +2
Driving in urban environments often presents difficult situations that require expert maneuvering of a vehicle. These situations become even more challenging when considering large…