23 citations · 102 across the 18 of their papers we have counts for
5 papers · 1 filter
An Adaptive Control Architecture for Slope and Terrain Compensation in Autonomous Navigation in Mediterranean Greenhouses
Fernando Cañadas-Aránega, Dirk Wollherr, José L. Guzmán +2
The ability to move stably over terrain with varying slopes and textures is essential for mobile agricultural robots operating in complex and dynamic environments such as greenhous…
Disturbance Estimation for High-Degree-of-Freedom Euler-Lagrangian Systems Using Sliding Mode Observer without Matching Conditions
Zengjie Zhang, Dirk Wollherr
This paper proposes a novel observer-based disturbance estimation method for high degree-of-freedom Euler-Lagrangian systems using an unknown input-output (UIO) sliding mode observ…
MS2MP: A Min-Sum Message Passing Algorithm for Motion Planning
Salman Bari, Volker Gabler, Dirk Wollherr
Gaussian Process (GP) formulation of continuoustime trajectory offers a fast solution to the motion planning problem via probabilistic inference on factor graph. However, often the…
Factor Graph-Based Planning as Inference for Autonomous Vehicle Racing
Salman Bari, Xiagong Wang, Ahmad Schoha Haidari +1
Factor graph, as a bipartite graphical model, offers a structured representation by revealing local connections among graph nodes. This study explores the utilization of factor gra…
Gaussian Process-based Stochastic Model Predictive Control for Overtaking in Autonomous Racing
Tim Brüdigam, Alexandre Capone, Sandra Hirche +2
A fundamental aspect of racing is overtaking other race cars. Whereas previous research on autonomous racing has majorly focused on lap-time optimization, here, we propose a method…