7 citations · 11 across the 4 of their papers we have counts for
4 papers
REFINE: Reachability-based Trajectory Design using Robust Feedback Linearization and Zonotopes
Jinsun Liu, Yifei Shao, Lucas Lymburner +7
Performing real-time receding horizon motion planning for autonomous vehicles while providing safety guarantees remains difficult. This is because existing methods to accurately pr…
Collision Avoidance for Dynamic Obstacles with Uncertain Predictions using Model Predictive Control
Siddharth H. Nair, Eric H. Tseng, Francesco Borrelli
We propose a Model Predictive Control (MPC) for collision avoidance between an autonomous agent and dynamic obstacles with uncertain predictions. The collision avoidance constraint…
Stochastic MPC with Dual Control for Autonomous Driving with Multi-Modal Interaction-Aware Predictions
Siddharth H. Nair, Vijay Govindarajan, Theresa Lin +3
We propose a Stochastic MPC (SMPC) approach for autonomous driving which incorporates multi-modal, interaction-aware predictions of surrounding vehicles. For each mode, vehicle mot…
Generating Socially Acceptable Perturbations for Efficient Evaluation of Autonomous Vehicles
Songan Zhang, Huei Peng, Subramanya Nageshrao +1
Deep reinforcement learning methods have been widely used in recent years for autonomous vehicle's decision-making. A key issue is that deep neural networks can be fragile to adver…