5 papers
Decentralized Opinion-Integrated Decision making at Unsignalized Intersections via Signed Networks
Bhaskar Varma, Ying Shuai Quan, Karl D. von Ellenrieder +1
In this letter, we consider the problem of decentralized decision making among connected autonomous vehicles at unsignalized intersections, where existing centralized approaches do…
Interaction-Aware Predictive Environmental Control Barrier Function for Emergency Lane Change
Ying Shuai Quan, Paolo Falcone, Jonas Sjöberg
Safety-critical motion planning in mixed traffic remains challenging for autonomous vehicles, especially when it involves interactions between the ego vehicle (EV) and surrounding…
Regulation-Aware Game-Theoretic Motion Planning for Autonomous Racing
Francesco Prignoli, Francesco Borrelli, Paolo Falcone +1
This paper presents a regulation-aware motion planning framework for autonomous racing scenarios. Each agent solves a Regulation-Compliant Model Predictive Control problem, where r…
Priority-Driven Safe Model Predictive Control Approach to Autonomous Driving Applications
Francesco Prignoli, Ying Shuai Quan, Mohammad Jeddi +2
This paper demonstrates the applicability of the safe model predictive control (SMPC) framework to autonomous driving scenarios, focusing on the design of adaptive cruise control (…
Priority-driven Constraints Softening in Safe MPC for Perturbed Systems
Ying Shuai Quan, Mohammad Jeddi, Francesco Prignoli +1
This paper presents a safe model predictive control (SMPC) framework designed to ensure the satisfaction of hard constraints for systems perturbed by an external disturbance. Such…