5 papers
Homotopy-Guided Potential Games for Congestion-Aware Navigation
Mohammed Irshadh Ismaaeel Sathyamangalam Imran, Lasse Peters, Michael Khayyat +3
We address the multi-agent motion planning problem where interactions, collisions, and congestion co-exist. Conventional game-theoretic planners capture interactions among agents b…
From Data to Safe Mobile Robot Navigation: An Efficient and Modular Robust MPC Design Pipeline
Dennis Benders, Johannes Köhler, Robert Babuška +2
Model predictive control (MPC) is a powerful strategy for planning and control in autonomous mobile robot navigation. However, ensuring safety in real-world deployments remains cha…
A Step-by-step Guide on Nonlinear Model Predictive Control for Safe Mobile Robot Navigation
Dennis Benders, Laura Ferranti, Johannes Köhler
Designing a model predictive control (MPC) scheme that enables a mobile robot to safely navigate through an obstacle-filled environment is a complicated yet essential task in robot…
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…
Distributed Attack-Resilient Platooning Against False Data Injection
Lorenzo Lyons, Manuel Boldrer, Laura Ferranti
This paper presents a novel distributed vehicle platooning control and coordination strategy. We propose a distributed predecessor-follower CACC scheme that allows to choose an arb…