2 citations · 2 across the 16 of their papers we have counts for
4 papers · 1 filter
REFINE: Reachability-based Trajectory Design using Robust Feedback Linearization and Zonotopes
Jinsun Liu, Yifei Shao, Lucas Lymburner +7
Performing real-time receding horizon motion planning for autonomous vehicles while providing safety guarantees remains difficult. This is because existing methods to accurately pr…
Safe and Human-Like Autonomous Driving: A Predictor-Corrector Potential Game Approach
Mushuang Liu, H. Eric Tseng, Dimitar Filev +2
This paper proposes a novel decision-making framework for autonomous vehicles (AVs), called predictor-corrector potential game (PCPG), composed of a Predictor and a Corrector. To e…
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…