57 citations · 65 across the 16 of their papers we have counts for
5 papers · 1 filter
NLOptControl: A modeling language for solving optimal control problems
Huckleberry Febbo, Paramsothy Jayakumar, Jeffrey L. Stein +1
Current direct-collocation-based optimal control software is either easy to use or fast, but not both. This is a major limitation for users that are trying to formulate complex opt…
A Workload Adaptive Haptic Shared Control Scheme for Semi-Autonomous Driving
Ruikun Luo, Yifan Weng, Yifan Wang +7
Haptic shared control is used to manage the control authority allocation between a human and an autonomous agent in semi-autonomous driving. Existing haptic shared control schemes,…
An Active Learning Framework for Constructing High-fidelity Mobility Maps
Gary R. Marple, David Gorsich, Paramsothy Jayakumar +1
A mobility map, which provides maximum achievable speed on a given terrain, is essential for path planning of autonomous ground vehicles in off-road settings. While physics-based s…
Neural network based terramechanics modeling and estimation for deformable terrains
James Dallas, Michael P. Cole, Paramsothy Jayakumar +1
In this work, a neural network based terramechanics model and terrain estimator are presented with an outlook for optimal control applications such as model predictive control. Rec…
Real-time trajectory planning for automated vehicle safety and performance in dynamic environments
Huckleberry Febbo, Paramsothy Jayakumar, Jeffrey L. Stein +1
Safe trajectory planning for high-performance automated vehicles in an environment with both static and moving obstacles is a challenging problem. Part of the challenge is developi…