6 papers
Safe Driving in Occluded Environments
Zhuoyuan Wang, Tongyao Jia, Pharuj Rajborirug +5
Ensuring safe autonomous driving in the presence of occlusions poses a significant challenge in its policy design. While existing model-driven control techniques based on set invar…
Real-Time Model Predictive Control of Vehicles with Convex-Polygon-Aware Collision Avoidance in Tight Spaces
Haruki Kojima, Kohei Honda, Hiroyuki Okuda +1
This paper proposes vehicle motion planning methods with obstacle avoidance in tight spaces by incorporating polygonal approximations of both the vehicle and obstacles into a model…
LVLM-MPC Collaboration for Autonomous Driving: A Safety-Aware and Task-Scalable Control Architecture
Kazuki Atsuta, Kohei Honda, Hiroyuki Okuda +1
This paper proposes a novel Large Vision-Language Model (LVLM) and Model Predictive Control (MPC) integration framework that delivers both task scalability and safety for Autonomou…
Switching Sampling Space of Model Predictive Path-Integral Controller to Balance Efficiency and Safety in 4WIDS Vehicle Navigation
Mizuho Aoki, Kohei Honda, Hiroyuki Okuda +1
Four-wheel independent drive and steering vehicle (4WIDS Vehicle, Swerve Drive Robot) has the ability to move in any direction by its eight degrees of freedom (DoF) control inputs.…
Stein Variational Guided Model Predictive Path Integral Control: Proposal and Experiments with Fast Maneuvering Vehicles
Kohei Honda, Naoki Akai, Kosuke Suzuki +4
This paper presents a novel Stochastic Optimal Control (SOC) method based on Model Predictive Path Integral control (MPPI), named Stein Variational Guided MPPI (SVG-MPPI), designed…
MPC Builder for Autonomous Drive: Automatic Generation of MPCs for Motion Planning and Control
Kohei Honda, Hiroyuki Okuda, Tatsuya Suzuki +1
This study presents a new framework for vehicle motion planning and control based on the automatic generation of model predictive controllers (MPCs) named MPC Builder. In this fram…