4 papers
LPV-MPC for Lateral Control in Full-Scale Autonomous Racing
Hassan Jardali, Ihab S. Mohamed, Durgakant Pushp +1
Autonomous racing has attracted significant attention recently, presenting challenges in selecting an optimal controller that operates within the onboard system's computational lim…
From Zero to High-Speed Racing: An Autonomous Racing Stack
Hassan Jardali, Durgakant Pushp, Youwei Yu +9
High-speed, head-to-head autonomous racing presents substantial technical and logistical challenges, including precise localization, rapid perception, dynamic planning, and real-ti…
Chance-Constrained Sampling-Based MPC for Collision Avoidance in Uncertain Dynamic Environments
Ihab S. Mohamed, Mahmoud Ali, Lantao Liu
Navigating safely in dynamic and uncertain environments is challenging due to uncertainties in perception and motion. This letter presents the Chance-Constrained Unscented Model Pr…
Towards Efficient MPPI Trajectory Generation with Unscented Guidance: U-MPPI Control Strategy
Ihab S. Mohamed, Junhong Xu, Gaurav S Sukhatme +1
The classical Model Predictive Path Integral (MPPI) control framework, while effective in many applications, lacks reliable safety features due to its reliance on a risk-neutral tr…