document

Safe nonlinear trajectory generation for parallel autonomy with a dynamic vehicle model

Schwarting, Wilko (author), Alonso-Mora, J. (author), Paull, Liam (author), Karaman, Sertac (author), Rus, Daniela (author)

High-end vehicles are already equipped with safety systems, such as assistive braking and automatic lane following, enhancing vehicle safety. Yet, these current solutions can only help in low-complexity driving situations. In this paper, we introduce a parallel autonomy, or shared control, framework that computes safe trajectories for an...

journal article 2017

document

Dynamic Ramping Model Including Intraperiod Ramp-Rate Changes in Unit Commitment

Correa-Posada, Carlos M. (author), Morales-Espana, G. (author), Dueñas, Pablo (author), Sánchez-Martín, Pedro (author)

The growing increase of renewable generation worldwide is posing new challenges for a secure, reliable and economic operation of power systems. In order to face the uncertain and intermittent production of renewable sources, operating reserves must be allocated efficiently and accurately. Nowadays, these reserves are mainly assigned to thermal...

journal article 2017

document

Effects of Linear Perspective on Human Use of Preview in Manual Control

van der El, Kasper (author), Pool, D.M. (author), van Paassen, M.M. (author), Mulder, Max (author)

Due to linear perspective, the visual stimulus provided by a previewed reference trajectory reduces with increasing distance ahead. This paper investigates the effects of linear perspective on human use of preview in manual control tasks. Results of a human-in-the-loop tracking experiment are presented, where the linear perspective&#x0027...

journal article 2018

document

Haptic guidance on demand: A grip-force based scheduling of guidance forces

Smisek, J. (author), Mugge, W. (author), Smeets, Jeroen B J (author), van Paassen, M.M. (author), Schiele, A. (author)

In haptic shared control systems (HSC), a fixed strength of guidance force equates to a fixed level of control authority, which can be insufficient for complex tasks. An adaptable control authority based on operator input can allow the HSC system to better assist the operator under varied conditions. In this paper, we experimentally...

journal article 2018

document

Effects of Preview Time in Manual Tracking Tasks

van der El, Kasper (author), Padmos, S. (author), Pool, D.M. (author), van Paassen, M.M. (author), Mulder, Max (author)

In manual control tasks, preview of the target trajectory ahead is often limited by poor lighting, objects, or display edges. This paper investigates the effects of limited preview, or preview time, in manual tracking tasks with single- and double-integrator controlled element dynamics. A quasi-linear human controller model is used to predict...

journal article 2018

document

On Evaluating Floating Car Data Quality for Knowledge Discovery

Cerqueira, Vitor (author), Moreira Matias, L.A. (author), Khiari, Jihed (author), van Lint, J.W.C. (author)

Floating car data (FCD) denotes the type of data (location, speed, and destination) produced and broadcasted periodically by running vehicles. Increasingly, intelligent transportation systems take advantage of such data for prediction purposes as input to road and transit control and to discover useful mobility patterns with applications to...

journal article 2018

document

Learning Tracking Control for Cyber-Physical Systems

Wu, C. (author), Pan, W. (author), Sun, Guanghui (author), Liu, Jianxing (author), Wu, Ligang (author)

This paper investigates the problem of optimal tracking control for cyber-physical systems (CPS) when the cyber realm is attacked by denial-of-service (DoS) attacks which can prevent the control signal transmitting to the actuator. Attention is focused on how to design the optimal tracking control scheme without using the system dynamics and...

journal article 2021

document

Model-Reference Reinforcement Learning for Collision-Free Tracking Control of Autonomous Surface Vehicles

Zhang, Q. (author), Pan, W. (author), Reppa, V. (author)

This paper presents a novel model-reference reinforcement learning algorithm for the intelligent tracking control of uncertain autonomous surface vehicles with collision avoidance. The proposed control algorithm combines a conventional control method with reinforcement learning to enhance control accuracy and intelligence. In the proposed...

journal article 2021

document

Actuating Eigenmanifolds of Conservative Mechanical Systems Via Bounded or Impulsive Control Actions

Della Santina, C. (author), Calzolari, Davide (author), Giordano, Alessandro Massimo (author), Albu-Schaffer, Alin (author)

Eigenmanifolds are two-dimensional submanifolds of the state space, which generalize linear eigenspaces to nonlinear mechanical systems. Initializing a robot on an Eigenmanifold (or driving it there by control) yields hyper-efficient and regular oscillatory behaviors, called modal oscillations. This letter investigates the possibility of...

journal article 2021

document

Exciting efficient oscillations in nonlinear mechanical systems through Eigenmanifold stabilization

Della Santina, C. (author), Albu-Schaeffer, Alin (author)

Nonlinear modes are a well investigated concept in dynamical systems theory, extending the celebrated modal analysis of linear mechanical systems to nonlinear ones. This letter moves a first step in the direction of combining control theory and nonlinear modal analysis towards the implementation of hyper-efficient oscillatory behaviors in...

journal article 2021

document

Learning Interaction-Aware Trajectory Predictions for Decentralized Multi-Robot Motion Planning in Dynamic Environments

Zhu, H. (author), Martinez Claramunt, Francisco (author), Ferreira de Brito, B.F. (author), Alonso-Mora, J. (author)

This paper presents a data-driven decentralized trajectory optimization approach for multi-robot motion planning in dynamic environments. When navigating in a shared space, each robot needs accurate motion predictions of neighboring robots to achieve predictive collision avoidance. These motion predictions can be obtained among robots by...

journal article 2021

document

What driving style makes pedestrians think a passing vehicle is driving automatically?

Bazilinskyy, P. (author), Sakuma, Tsuyoshi (author), de Winter, J.C.F. (author)

An important question in the development of automated vehicles (AVs) is which driving style AVs should adopt and how other road users perceive them. The current study aimed to determine which AV behaviours contribute to pedestrians' judgements as to whether the vehicle is driving manually or automatically as well as judgements of likeability....

journal article 2021

document

Mean Field Behavior of Collaborative Multiagent Foragers

Jarne Ornia, D. (author), Zufiria, Pedro J. (author), Mazo, M. (author)

Collaborative multiagent robotic systems, where agents coordinate by modifying a shared environment often result in undesired dynamical couplings that complicate the analysis and experiments when solving a specific problem or task. Simultaneously, biologically inspired robotics rely on simplifying agents and increasing their number to obtain...

journal article 2022

document

Hierarchical Optimal Maneuver Planning and Trajectory Control at On-Ramps With Multiple Mainstream Lanes

Chen, N. (author), van Arem, B. (author), Wang, M. (author)

Connected Automated Vehicles (CAVs) have the potential to improve traffic operations when they cooperatively maneuver in merging sections. State-of-the-art approaches in cooperative merging either build on heuristics solutions or prohibit mainline CAVs to change lane on multilane highways. This paper proposes a hierarchical cooperative...

journal article 2022

document

Neural-adaptive constrained flight control for air ground recovery under terrain obstacles

Su, Zikang (author), Wang, X. (author), Wang, Honglun (author)

This article contrives a neural-adaptive constrained controller of the cable towed air-ground recovery system subject to terrain obstacles, unmeasurable cable tensions, trailing vortex, wind gust, and actuator saturation. In air-ground recovery system modeling, the towed vehicle's nominal 6 DOF affine nonlinear dynamics and the cable system's...

journal article 2022

document

Distributed Time-Varying Optimization of Second-Order Multiagent Systems Under Limited Interaction Ranges

Hong, Huifen (author), Baldi, S. (author), Yu, Wenwu (author), Yu, Xinghuo (author)

This article investigates the distributed time-varying optimization problem for second-order multiagent systems (MASs) under limited interaction ranges. The goal is to seek the minimum of the sum of local time-varying cost functions (CFs), where each CF is only available to the corresponding agent. Limited communication range refers to the...

journal article 2022

document

Probabilistic Risk Metric for Highway Driving Leveraging Multi-Modal Trajectory Predictions

Wang, X. (author), Alonso-Mora, J. (author), Wang, M. (author)

Road traffic safety has attracted increasing research attention, in particular in the current transition from human-driven vehicles to autonomous vehicles. Surrogate measures of safety are widely used to assess traffic safety but they typically ignore motion uncertainties and are inflexible in dealing with two-dimensional motion. Meanwhile,...

journal article 2022

document

Unraveling Gap Selection Process during Discretionary Lane Changing by Vehicle Class

Sharma, Salil (author), van Lint, J.W.C. (author), Tavasszy, Lorant (author), Snelder, M. (author)

This paper studies and compares the gap selection process of multiple vehicle classes (passenger cars, delivery vans, and trucks) within their discretionary lane changing activities. Given a trajectory or a sequence of gap selection decisions, we aim to predict whether a vehicle will change or keep a lane. For this purpose, we use a large...

journal article 2022

document

A Pitch-Matched Low-Noise Analog Front-End With Accurate Continuous Time-Gain Compensation for High-Density Ultrasound Transducer Arrays

Guo, P. (author), Chang, Z.Y. (author), Noothout, E.C. (author), Vos, H.J. (author), Bosch, Johan G. (author), de Jong, N. (author), Verweij, M.D. (author), Pertijs, M.A.P. (author)

This article presents a compact analog front-end (AFE) circuit for ultrasound receivers with linear-in-dB continuous gain control for time-gain compensation (TGC). The AFE consists of two variable-gain stages, both of which employ a novel complementary current-steering network (CCSN) as the interpolator to realize continuously variable gain....

journal article 2022

document

Stabilizability of Linear Dynamical Systems Using Sparse Control Inputs

Sriram, Chandrasekhar (author), Joseph, G. (author), Murthy, Chandra R. (author)

The stabilizability of a linear dynamical system (LDS) refers to the existence of control inputs that drive the system state to zero. In this article, we analyze both the theoretical and algorithmic aspects of the stabilizability of an LDS using sparse control inputs with potentially time-varying supports. We show that an LDS is stabilizable...

journal article 2022