Showing 2024Show all
2 papers · 1 filter
cs.RO2024
C-Uniform Trajectory Sampling For Fast Motion Planning
O. Goktug Poyrazoglu, Yukang Cao, Volkan Isler
We study the problem of sampling robot trajectories and introduce the notion of C-Uniformity. As opposed to the standard method of uniformly sampling control inputs (which lead to…
cs.RO2024
Neural L1 Adaptive Control of Vehicle Lateral Dynamics
Pratik Mukherjee, Burak M. Gonultas, O. Goktug Poyrazoglu +1
We address the problem of stable and robust control of vehicles with lateral error dynamics for the application of lane keeping. Lane departure is the primary reason for half of th…