Real-time Adaptive Nonlinear MPC for Collision Imminent Control and Planning in Automated Vehicles: Enforcing constraints and utilizing the full control potential

With the introduction of autonomous vehicles on public roads, their performance in emergency situations has become a strong focus. Collision Imminent Control (CIC) concerns the planning and control of aggressive evasive maneuvers for collision avoidance of automated vehicles. CIC is implemented using adaptive Nonlinear Model Predictive Control ...

Omnidirectional Monocular Collision Avoidance Onboard a Quadrotor