5 papers · 1 filter
Multi-Modal Model Predictive Path Integral Control for Collision Avoidance
Alberto Bertipaglia, Dariu M. Gavrila, Barys Shyrokau
This paper proposes a novel approach to motion planning and decision-making for automated vehicles, using a multi-modal Model Predictive Path Integral control algorithm. The method…
A Vehicle System for Navigating Among Vulnerable Road Users Including Remote Operation
Oscar de Groot, Alberto Bertipaglia, Hidde Boekema +21
We present a vehicle system capable of navigating safely and efficiently around Vulnerable Road Users (VRUs), such as pedestrians and cyclists. The system comprises key modules for…
A Learning-Based Model Predictive Contouring Control for Vehicle Evasive Manoeuvres
Alberto Bertipaglia, Mohsen Alirezaei, Riender Happee +1
This paper presents a novel Learning-based Model Predictive Contouring Control (L-MPCC) algorithm for evasive manoeuvres at the limit of handling. The algorithm uses the Student-t…
A Nonlinear Model Predictive Control for Automated Drifting with a Standard Passenger Vehicle
Stan Meijer, Alberto Bertipaglia, Barys Shyrokau
This paper presents a novel approach to automated drifting with a standard passenger vehicle, which involves a Nonlinear Model Predictive Control to stabilise and maintain the vehi…
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…