4 papers
Neural L1 Adaptive Control of Vehicle Lateral Dynamics
Pratik Mukherjee, Burak M. Gonultas, O. Goktug Poyrazoglu +1
We address the problem of stable and robust control of vehicles with lateral error dynamics for the application of lane keeping. Lane departure is the primary reason for half of th…
Pursuit-Evasion for Car-like Robots with Sensor Constraints
Burak M. Gonultas, Volkan Isler
We study a pursuit-evasion game between two players with car-like dynamics and sensing limitations by formalizing it as a partially observable stochastic zero-sum game. The partial…
System Identification and Control of Front-Steered Ackermann Vehicles through Differentiable Physics
Burak M. Gonultas, Pratik Mukherjee, O. Goktug Poyrazoglu +1
In this paper, we address the problem of system identification and control of a front-steered vehicle which abides by the Ackermann geometry constraints. This problem arises natura…
Online Coverage Planning for an Autonomous Weed Mowing Robot with Curvature Constraints
Parikshit Maini, Burak M. Gonultas, Volkan Isler
The land used for grazing cattle takes up about one-third of the land in the United States. These areas can be highly rugged. Yet, they need to be maintained to prevent weeds from…