3 papers
eess.SY2024
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…
cs.RO2024
DART: A Compact Platform For Autonomous Driving Research
Lorenzo Lyons, Thijs Niesten, Laura Ferranti
This paper presents the design of a research platform for autonomous driving applications, the Delft's Autonomous-driving Robotic Testbed (DART). Our goal was to design a small-sca…
cs.RO2023
Rule-Based Lloyd Algorithm for Multi-Robot Motion Planning and Control with Safety and Convergence Guarantees
Manuel Boldrer, Alvaro Serra-Gomez, Lorenzo Lyons +3
This paper presents a distributed rule-based Lloyd algorithm (RBL) for multi-robot motion planning and control. The main limitations of the basic Loyd-based algorithm (LB) concern…