5 papers · 1 filter
REACT: Environment-Adaptive Architecture for Continuous Formation Navigation of Wheeled Mobile Robots
Jianghong Dong, Yifeng Zhang, Jiawei Wang +3
Formation control of wheeled mobile robots (WMRs) has been extensively studied due to its broad applications in fields such as logistics transportation, environmental monitoring, a…
Multi-Source Human-in-the-Loop Digital Twin Testbed for Connected and Autonomous Vehicles in Mixed Traffic Flow
Jianghong Dong, Chunying Yang, Mengchi Cai +5
In the emerging mixed traffic environments, Connected and Autonomous Vehicles (CAVs) have to interact with surrounding human-driven vehicles (HDVs). This paper introduces MSH-MCCT…
cuNRTO: GPU-Accelerated Nonlinear Robust Trajectory Optimization
Jiawei Wang, Arshiya Taj Abdul, Evangelos A. Theodorou
Robust trajectory optimization enables autonomous systems to operate safely under uncertainty by computing control policies that satisfy the constraints for all bounded disturbance…
Human-Machine Shared Control Approach for the Takeover of CACC
Haoran Wang, Zhexi Lian, Zhenning Li +5
Cooperative Adaptive Cruise Control (CACC) often requires human takeover for tasks such as exiting a freeway. Direct human takeover can pose significant risks, especially given the…
UAV Path Planning for Object Observation with Quality Constraints: A Dynamic Programming Approach
Jiawei Wang, Weiwei Wu, Yijing Wang +2
This paper addresses a UAV path planning task that seeks to observe a set of objects while satisfying the observation quality constraint. A dynamic programming algorithm is propose…