90 citations · 120 across the 13 of their papers we have counts for
15 papers
A COLREGs-Compliant Motion Planner for Autonomous Maneuvering of Marine Vessels in Complex Environments
Kristoffer Bergman, Oskar Ljungqvist, Jonas Linder +1
An enabling technology for future sea transports is safe and energy-efficient autonomous maritime navigation in narrow environments with other marine vessels present. This requires…
A Geometric Approach to On-road Motion Planning for Long and Multi-Body Heavy-Duty Vehicles
Rui Oliveira, Oskar Ljungqvist, Pedro F. Lima +2
Driving heavy-duty vehicles, such as buses and tractor-trailer vehicles, is a difficult task in comparison to passenger cars. Most research on motion planning for autonomous vehicl…
An Optimization-Based Motion Planner for Autonomous Maneuvering of Marine Vessels in Complex Environments
Kristoffer Bergman, Oskar Ljungqvist, Jonas Linder +1
The task of maneuvering ships in confined environments is a difficult task for a human operator. One major reason is due to the complex and slow dynamics of the ship which need to…
Estimation-aware model predictive path-following control for a general 2-trailer with a car-like tractor
Oskar Ljungqvist, Daniel Axehill, Henrik Pettersson +1
The design of the path-following controller is crucial for reliable autonomous vehicle operation. This design problem is especially challenging for a general 2-trailer with a car-l…
On sensing-aware model predictive path-following control for a reversing general 2-trailer with a car-like tractor
Oskar Ljungqvist, Daniel Axehill, Henrik Pettersson
The design of reliable path-following controllers is a key ingredient for successful deployment of self-driving vehicles. This controller-design problem is especially challenging f…
Optimization-Based On-Road Path Planning for Articulated Vehicles
Rui Oliveira, Oskar Ljungqvist, Pedro F. Lima +1
Maneuvering an articulated vehicle on narrow road stretches is often a challenging task for a human driver. Unless the vehicle is accurately steered, parts of the vehicle's bodies…
An Optimization-Based Receding Horizon Trajectory Planning Algorithm
Kristoffer Bergman, Oskar Ljungqvist, Torkel Glad +1
This paper presents an optimization-based receding horizon trajectory planning algorithm for dynamical systems operating in unstructured and cluttered environments. The proposed ap…
Optimization-based motion planning for multi-steered articulated vehicles
Oskar Ljungqvist, Kristoffer Bergman, Daniel Axehill
The task of maneuvering a multi-steered articulated vehicle in confined environments is difficult even for experienced drivers. In this work, we present an optimization-based traje…
A predictive path-following controller for multi-steered articulated vehicles
Oskar Ljungqvist, Daniel Axehill
Stabilizing multi-steered articulated vehicles in backward motion is a complex task for any human driver. Unless the vehicle is accurately steered, its structurally unstable joint-…
A path planning and path-following control framework for a general 2-trailer with a car-like tractor
Oskar Ljungqvist, Niclas Evestedt, Daniel Axehill +2
Maneuvering a general 2-trailer with a car-like tractor in backward motion is a task that requires significant skill to master and is unarguably one of the most complicated tasks a…
Improved Path Planning by Tightly Combining Lattice-based Path Planning and Numerical Optimal Control
Kristoffer Bergman, Oskar Ljungqvist, Daniel Axehill
This paper presents a unified optimization-based path planning approach to efficiently compute locally optimal solutions to advanced path planning problems. The approach is motivat…
Improved Optimization of Motion Primitives for Motion Planning in State Lattices
Kristoffer Bergman, Oskar Ljungqvist, Daniel Axehill
In this paper, we propose a framework for generating motion primitives for lattice-based motion planners automatically. Given a family of systems, the user only needs to specify wh…
Lattice-based Motion Planning for a General 2-trailer system
Oskar Ljungqvist, Niclas Evestedt, Marcello Cirillo +2
Motion planning for a general 2-trailer system poses a hard problem for any motion planning algorithm and previous methods have lacked any completeness or optimality guarantees. In…
Path following control for a reversing general 2-trailer system
Oskar Ljungqvist, Daniel Axehill, Anders Helmersson
In order to meet the requirements for autonomous systems in real world applications, reliable path following controllers have to be designed to execute planned paths despite the ex…
Path tracking and stabilization for a reversing general 2-trailer configuration using a cascaded control approach
Niclas Evestedt, Oskar Ljungqvist, Daniel Axehill
In this paper a cascaded approach for stabilization and path tracking of a general 2-trailer vehicle configuration with an off-axle hitching is presented. A low level Linear Quadra…