57 citations · 63 across the 10 of their papers we have counts for
10 papers
Deep Reinforcement-Learning-Guided Model Predictive Control for Preventing Overtakes in Autonomous Racing
Yufei Xi, Yijie Liao, Tulga Ersal
This paper addresses defensive blocking in autonomous racing, where a vehicle must prevent a faster opponent from overtaking while operating near its dynamic limits. Different from…
Distribution-Free Risk-Aware Planning and Control Under Uncertainty Using Conformal Spectral Risk Control
Junsik Eom, Tulga Ersal
Safe navigation in dynamic and uncertain environments often relies on accurate estimation of, or assumptions about, the true underlying uncertainty. However, accurately characteriz…
High-Speed, All-Terrain Autonomy: Ensuring Safety at the Limits of Mobility
James R. Baxter, Bogdan I. Epureanu, Paramsothy Jayakumar +1
A novel local trajectory planner, capable of controlling an autonomous off-road vehicle on rugged terrain at high-speed is presented. Autonomous vehicles are currently unable to sa…
Cyber Racing Coach: A Haptic Shared Control Framework for Teaching Advanced Driving Skills
Congkai Shen, Siyuan Yu, Yifan Weng +7
This study introduces a haptic shared control framework designed to teach human drivers advanced driving skills. In this context, shared control refers to a driving mode where the…
Spatial Envelope MPC: High Performance Driving without a Reference
Siyuan Yu, Congkai Shen, Yufei Xi +5
This paper presents a novel envelope based model predictive control (MPC) framework designed to enable autonomous vehicles to handle high performance driving across a wide range of…
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,…
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…
Online terrain estimation for autonomous vehicles on deformable terrains
James Dallas, Kshitij Jain, Zheng Dong +3
In this work, a terrain estimation framework is developed for autonomous vehicles operating on deformable terrains. Previous work in this area usually relies on steady state tire o…