4 papers
Boundary Sampling to Learn Predictive Safety Filters via Pontryagin's Maximum Principle
James Dallas, Thomas Lew, John Talbot +3
Safety filters provide a practical approach for enforcing safety constraints in autonomous systems. While learning-based tools scale to high-dimensional systems, their performance…
Cyber Racing Coach: A Haptic Shared Control Framework for Teaching Advanced Driving Skills
Congkai Shen, Siyuan Yu, Yifan Weng +7
This study introduces a haptic shared control framework designed to teach human drivers advanced driving skills. In this context, shared control refers to a driving mode where the…
Spatial Envelope MPC: High Performance Driving without a Reference
Siyuan Yu, Congkai Shen, Yufei Xi +5
This paper presents a novel envelope based model predictive control (MPC) framework designed to enable autonomous vehicles to handle high performance driving across a wide range of…
Control Barrier Functions for Shared Control and Vehicle Safety
James Dallas, John Talbot, Makoto Suminaka +4
This manuscript presents a control barrier function based approach to shared control for preventing a vehicle from entering the part of the state space where it is unrecoverable. T…