3 papers
eess.SY2024
Nonlinear Model Predictive Control for Enhanced Path Tracking and Autonomous Drifting through Direct Yaw Moment Control and Rear-Wheel-Steering
Gaetano Tavolo, Pietro Stano, Davide Tavernini +5
Path tracking (PT) controllers capable of replicating race driving techniques, such as drifting beyond the limits of handling, have the potential of enhancing active safety in crit…
cs.RO2024
Model Predictive Contouring Control for Vehicle Obstacle Avoidance at the Limit of Handling Using Torque Vectoring
Alberto Bertipaglia, Davide Tavernini, Umberto Montanaro +4
This paper presents an original approach to vehicle obstacle avoidance. It involves the development of a nonlinear Model Predictive Contouring Control, which uses torque vectoring…
cs.RO2024
Modelling, Positioning, and Deep Reinforcement Learning Path Tracking Control of Scaled Robotic Vehicles: Design and Experimental Validation
Carmine Caponio, Pietro Stano, Raffaele Carli +4
Mobile robotic systems are becoming increasingly popular. These systems are used in various indoor applications, raging from warehousing and manufacturing to test benches for asses…