20 citations · 26 across the 9 of their papers we have counts for
9 papers
Multi-Modal Model Predictive Path Integral Control for Collision Avoidance
Alberto Bertipaglia, Dariu M. Gavrila, Barys Shyrokau
This paper proposes a novel approach to motion planning and decision-making for automated vehicles, using a multi-modal Model Predictive Path Integral control algorithm. The method…
A Vehicle System for Navigating Among Vulnerable Road Users Including Remote Operation
Oscar de Groot, Alberto Bertipaglia, Hidde Boekema +21
We present a vehicle system capable of navigating safely and efficiently around Vulnerable Road Users (VRUs), such as pedestrians and cyclists. The system comprises key modules for…
A Learning-Based Model Predictive Contouring Control for Vehicle Evasive Manoeuvres
Alberto Bertipaglia, Mohsen Alirezaei, Riender Happee +1
This paper presents a novel Learning-based Model Predictive Contouring Control (L-MPCC) algorithm for evasive manoeuvres at the limit of handling. The algorithm uses the Student-t…
A Nonlinear Model Predictive Control for Automated Drifting with a Standard Passenger Vehicle
Stan Meijer, Alberto Bertipaglia, Barys Shyrokau
This paper presents a novel approach to automated drifting with a standard passenger vehicle, which involves a Nonlinear Model Predictive Control to stabilise and maintain the vehi…
Model Predictive Contouring Control for Vehicle Obstacle Avoidance at the Limit of Handling Using Torque Vectoring
Alberto Bertipaglia, Davide Tavernini, Umberto Montanaro +4
This paper presents an original approach to vehicle obstacle avoidance. It involves the development of a nonlinear Model Predictive Contouring Control, which uses torque vectoring…
Model Predictive Contouring Control for Vehicle Obstacle Avoidance at the Limit of Handling
Alberto Bertipaglia, Mohsen Alirezaei, Riender Happee +1
This paper proposes a non-linear Model Predictive Contouring Control (MPCC) for obstacle avoidance in automated vehicles driven at the limit of handling. The proposed controller in…
An Unscented Kalman Filter-Informed Neural Network for Vehicle Sideslip Angle Estimation
Alberto Bertipaglia, Mohsen Alirezaei, Riender Happee +1
This paper proposes a novel vehicle sideslip angle estimator, which uses the physical knowledge from an Unscented Kalman Filter (UKF) based on a non-linear single-track vehicle mod…
A Two-Stage Bayesian Optimisation for Automatic Tuning of an Unscented Kalman Filter for Vehicle Sideslip Angle Estimation
A. Bertipaglia, B. Shyrokau, M. Alirezaei +1
This paper presents a novel methodology to auto-tune an Unscented Kalman Filter (UKF). It involves using a Two-Stage Bayesian Optimisation (TSBO), based on a t-Student Process to o…
Model-based vs Data-driven Estimation of Vehicle Sideslip Angle and Benefits of Tyre Force Measurements
A. Bertipaglia, D. de Mol, M. Alirezaei +2
This paper provides a comprehensive comparison of model-based and data-driven approaches and analyses the benefits of using measured tyre forces for vehicle sideslip angle estimati…