5 papers
Identification of Vehicle Dynamics Parameters Using Simulation-based Inference
Ali Boyali, Simon Thompson, David Robert Wong
Identifying tire and vehicle parameters is an essential step in designing control and planning algorithms for autonomous vehicles. This paper proposes a new method: Simulation-Base…
Learning a Model for Inferring a Spatial Road Lane Network Graph using Self-Supervision
Robin Karlsson, David Robert Wong, Simon Thompson +1
Interconnected road lanes are a central concept for navigating urban roads. Currently, most autonomous vehicles rely on preconstructed lane maps as designing an algorithmic model i…
Applications of Successive Convexification in Autonomous VehiclePlanning and Control
Ali Boyali, Simon Thompson, David Wong
In this paper, we present the application of successive convexification methods to autonomous driving problems borrowed from recent aerospace literature. We formulate two optimizat…
Autonomous Parking by Successive Convexification and Compound State Triggers
Ali Boyali, Simon Thompson
In this paper, we propose an algorithm for optimal generation of nonholonomic paths for planning parking maneuvers with a kinematic car model. We demonstrate the use of Successive…
VITAMIN-E: VIsual Tracking And MappINg with Extremely Dense Feature Points
Masashi Yokozuka, Shuji Oishi, Thompson Simon +1
In this paper, we propose a novel indirect monocular SLAM algorithm called "VITAMIN-E," which is highly accurate and robust as a result of tracking extremely dense feature points.…