93 citations · 136 across the 3 of their papers we have counts for
4 papers · 1 filter
Adaptive Trajectory Planning and Optimization at Limits of Handling
Lars Svensson, Monimoy Bujarbaruah, Nitin Kapania +1
In this paper, we tackle the problem of trajectory planning and control of a vehicle under locally varying traction limitations, in the presence of suddenly appearing obstacles. We…
Path Tracking of Highly Dynamic Autonomous Vehicle Trajectories via Iterative Learning Control
Nitin R. Kapania, J. Christian Gerdes
Iterative learning control has been successfully used for several decades to improve the performance of control systems that perform a single repeated task. Using information from…
A Sequential Two-Step Algorithm for Fast Generation of Vehicle Racing Trajectories
Nitin R. Kapania, John Subosits, J Christian Gerdes
The problem of maneuvering a vehicle through a race course in minimum time requires computation of both longitudinal (brake and throttle) and lateral (steering wheel) control input…
A Hybrid Control Design for Autonomous Vehicles at Uncontrolled Intersections
Nitin R. Kapania, Vijay Govindarajan, Francesco Borrelli +1
As autonomous vehicles (AVs) inch closer to reality, a central requirement for acceptance will be earning the trust of humans in everyday driving situations. In particular, the int…