12 citations · 13 across the 4 of their papers we have counts for
4 papers
Reference-Free, Long-Horizon Trajectory Optimization for Aggressive Autonomous Driving in Milliseconds
Prayag Sharma, Jonathan Y. M. Goh, Franck Djeumou
Autonomous vehicles must generate long-horizon and dynamically feasible trajectories in real time-even when operating at the limits of vehicle handling-to ensure safe operation in…
Transcription-Induced Failure Modes in 6-DOF Rocket Landing Trajectory Optimization
Prayag Sharma, Jonathan Y. M. Goh, Behçet Açıkmeşe +1
Solving optimal control problems via large-scale NLP solvers depends on discretizing continuous dynamics. Yet, this transcription step hides critical vulnerabilities-most notably t…
Autonomous Drifting with 3 Minutes of Data via Learned Tire Models
Franck Djeumou, Jonathan Y. M. Goh, Ufuk Topcu +1
Near the limits of adhesion, the forces generated by a tire are nonlinear and intricately coupled. Efficient and accurate modelling in this region could improve safety, especially…
A hierarchical adaptive nonlinear model predictive control approach for maximizing tire force usage in autonomous vehicles
James Dallas, Michael Thompson, Jonathan Y. M. Goh +1
The ability to reliably maximize tire force usage would improve the safety of autonomous vehicles, especially in challenging edge cases. However, vehicle control near the limits of…