5 papers
Deep Reinforcement-Learning-Guided Model Predictive Control for Preventing Overtakes in Autonomous Racing
Yufei Xi, Yijie Liao, Tulga Ersal
This paper addresses defensive blocking in autonomous racing, where a vehicle must prevent a faster opponent from overtaking while operating near its dynamic limits. Different from…
Distribution-Free Risk-Aware Planning and Control Under Uncertainty Using Conformal Spectral Risk Control
Junsik Eom, Tulga Ersal
Safe navigation in dynamic and uncertain environments often relies on accurate estimation of, or assumptions about, the true underlying uncertainty. However, accurately characteriz…
High-Speed, All-Terrain Autonomy: Ensuring Safety at the Limits of Mobility
James R. Baxter, Bogdan I. Epureanu, Paramsothy Jayakumar +1
A novel local trajectory planner, capable of controlling an autonomous off-road vehicle on rugged terrain at high-speed is presented. Autonomous vehicles are currently unable to sa…
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…