41 citations · 67 across the 4 of their papers we have counts for
3 papers · 1 filter
Contingency Model Predictive Control for Automated Vehicles
John P. Alsterda, Matthew Brown, J. Christian Gerdes
We present Contingency Model Predictive Control (CMPC), a novel and implementable control framework which tracks a desired path while simultaneously maintaining a contingency plan…
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 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…