3 citations · 3 across the 5 of their papers we have counts for
6 papers
A General 3D Road Model for Motorcycle Racing
Thomas Fork, Francesco Borrelli
We present a novel control-oriented motorcycle model and use it for computing racing lines on a nonplanar racetrack. The proposed model combines recent advances in nonplanar road m…
Predictive Braking on a Nonplanar Road
Thomas Fork, Francesco Camozzi, Xiao-Yu Fu +1
We present an approach for predictive braking of a four-wheeled vehicle on a nonplanar road. Our main contribution is a methodology to consider friction and road contact safety on…
Euclidean and non-Euclidean Trajectory Optimization Approaches for Quadrotor Racing
Thomas Fork, Francesco Borrelli
We present two quadrotor raceline optimization approaches which differ in using Euclidean or non-Euclidean geometry to describe vehicle position. Both approaches use high-fidelity…
Overtaking Maneuvers on a Nonplanar Racetrack
Thomas Fork, H. Eric Tseng, Francesco Borrelli
We leverage game theory and a new vehicle modeling approach to compute overtaking maneuvers for racecars on a nonplanar surface. We solve for equilibria between noncooperative raci…
Vehicle Models and Optimal Control on a Nonplanar Surface
Thomas Fork, H. Eric Tseng, Francesco Borrelli
We present a 10 DoF dynamic vehicle model for model-based control on nonplanar road surfaces. A parametric surface is used to describe the road surface, allowing the surface parame…
Models and Predictive Control for Nonplanar Vehicle Navigation
Thomas Fork, H. Eric Tseng, Francesco Borrelli
We present a simplified model of a vehicle driving on a nonplanar road. A parametric surface is used to describe the nonplanar road which can describe any combination of curvature,…