4 papers
Event-Driven Safe Control of a Black-Box Balancing Wheel with Friction-Gated Actuation
Kanishka Harwani, Neha Navarkar, Aliasghar Arab +1
Commercial balancing wheels are closed systems: an internal controller keeps the board upright, and a rider steers by shifting weight and twisting the hips. We augment a one-wheel…
Risk Assessments for Evasive Emergency Maneuvers in Autonomous Vehicles
Aliasghar Arab, Milad Khaleghi, Koorosh Aslansefat
This paper presents a systematic verification and validation (V\&V) framework for the Evasive Minimum Risk Maneuver (EMRM) feature in autonomous vehicles, addressing a critical gap…
Motion Planning and Control of an Overactuated 4-Wheel Drive with Constrained Independent Steering
Shiyu Liu, Ilija Hadzic, Akshay Gupta +1
This paper addresses motion planning and con- trol of an overactuated 4-wheel drive train with independent steering (4WIS) where mechanical constraints prevent the wheels from exec…
Digital-Twin Evaluation for Proactive Human-Robot Collision Avoidance via Prediction-Guided A-RRT*
Vadivelan Murugesan, Rajasundaram Mathiazhagan, Sanjana Joshi +1
Human-robot collaboration requires precise prediction of human motion over extended horizons to enable proactive collision avoidance. Unlike existing planners that rely solely on k…