16 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…
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…
A Novel Model for 3D Motion Planning for a Generalized Dubins Vehicle with Pitch and Yaw Rate Constraints
Deepak Prakash Kumar, Swaroop Darbha, Satyanarayana Gupta Manyam +1
In this paper, we propose a new modeling approach and a fast algorithm for 3D motion planning, applicable for fixed-wing unmanned aerial vehicles. The goal is to construct the shor…
An Exact Algorithm for Load-Dependent Traveling Salesman Problem for Unmanned Aerial Vehicle Package Delivery
Deepak Prakash Kumar, Saurabh Belgaonkar, Sivakumar Rathinam +2
In this article, we present a novel formulation for the load-dependent traveling salesman problem (LD-TSP), in which travel cost (or energy expended) depends on the vehicle's curre…
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…