12 papers
Longitudinal-Motion-Aware Lateral Control for Autonomous Vehicles: A Robust Nonlinear Control Framework
Sixu Li, Nitesh Kumar, Reyshwanth Ganeshan +3
As autonomous vehicles (AVs) operate in increasingly dynamic traffic conditions, lateral control must be performed while longitudinal speed and acceleration vary. Yet many existing…
SUMO: Segment and Track Any Motion with Nonlinear State Space Models
Kexin Tian, Sixu Li, Keshu Wu +2
Visual Object Tracking (VOT) and Moving Object Segmentation (MOS) are two fundamental tasks in computer vision that involve both spatial and temporal object dynamics. Existing meth…
Lateral String Stability for Vehicle Platoons
Sixu Li, Swaroop Darbha, Yang Zhou
Connected and automated vehicle (CAV) platooning promises gains in energy efficiency and traffic throughput and, most critically, in safety. These safety benefits hinge on string s…
Privacy-Preserving Decentralized Cooperative Localization with Range-Only Measurements: A Convex Optimization Based Approach
Nitesh Kumar, Reyshwanth Ganeshan, Sixu Li +2
Cooperative localization using range-based measurements is critical for multi-robot systems operating in GPS-denied and unstructured environments. However, traditional cooperative…
Lateral String Stability for Vehicle Platoons: Formulation, Definition, and Analysis
Sixu Li, Swaroop Darbha, Yang Zhou
Platooning of connected and automated vehicles provides significant benefits in terms of energy efficiency, traffic throughput, and, most critically, safety. These safety benefits…
Time-optimal Convexified Reeds-Shepp Paths on a Sphere
Sixu Li, Deepak Prakash Kumar, Swaroop Darbha +1
This article studies the time-optimal path planning problem for a convexified Reeds-Shepp (CRS) vehicle on a unit sphere, capable of both forward and backward motion, with speed bo…