Model Predictive Path Planning of AGVs: Mixed Logical Dynamical Formulation and Distributed Coordination

Most of the existing path planning methods of automated guided vehicles (AGVs) are static. This paper proposes a new methodology for the path planning of a fleet of AGVs to improve the flexibility, robustness, and scalability of the AGV system. We mathematically describe the transport process as a dynamical system using an ad hoc mixed...

Using Eye-Tracking Data to Predict Situation Awareness in Real Time During Takeover Transitions in Conditionally Automated Driving

Situation awareness (SA) is critical to improving takeover performance during the transition period from automated driving to manual driving. Although many studies measured SA during or after the driving task, few studies have attempted to predict SA in real time in automated driving. In this work, we propose to predict SA during the takeover...

Improving Pedestrian Prediction Models with Self-Supervised Continual Learning

Autonomous mobile robots require accurate human motion predictions to safely and efficiently navigate among pedestrians, whose behavior may adapt to environmental changes. This paper introduces a self-supervised continual learning framework to improve data-driven pedestrian prediction models online across various scenarios continuously. In...

Is intermittent control the source of the non-linear oscillatory component (0.2-2Hz) in human balance control

Objective: To explain the 0.2-2Hz oscillation in human balance. Motivation: Oscillation (0.2-2 Hz) in the control signal (ankle moment) is sustained independently of external disturbances and exaggerated in Parkinson's disease. Does resonance or limit cycles in the neurophysiological feedback loop cause this oscillation? We investigate two...

MPC-based Haptic Shared Steering System: A Driver Modeling Approach for Symbiotic Driving

Advanced Driver Assistance Systems (ADAS) aim to increase safety and reduce mental workload. However, the gap in the understanding of the closed-loop driver-vehicle interaction often leads to reduced user acceptance. In this study, an optimal torque control law is calculated online in the Model Predictive Control (MPC) framework to guarantee...

Effects of Preview Time in Manual Tracking Tasks

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...