Dynamic rolling horizon scheduling of waterborne AGVs for inter terminal transport

The demand for transport between terminals within port areas, known as inter terminal transport (ITT), is increasing. This paper proposes a dynamic rolling horizon scheduling strategy for ITT using waterborne Autonomous Guided Vessels (waterborne AGVs). The strategy is dynamic in that it can handle the dynamically arriving ITT requests and...

A Cybernetic Analysis of Maximum Unnoticeable Added Dynamics for Different Baseline Controlled Systems

Maximum unnoticeable added dynamics (MUAD) envelopes have been largely used to assess the adequacy of low-order equivalent systems (LOES) in handling qualities assessment and simulator validation. However, research has shown that more thorough verification of the adequacy of this method is required. This paper studies the influence of the...

Using road topology to improve cyclist path prediction

We learn motion models for cyclist path prediction on real-world tracks obtained from a moving vehicle, and propose to exploit the local road topology to obtain better predictive distributions. The tracks are extracted from the Tsinghua-Daimler Cyclist Benchmark for cyclist detection, and corrected for vehicle egomotion. Tracks are then...

Robust collision avoidance for multiple micro aerial vehicles using nonlinear model predictive control

When several Multirotor Micro Aerial Vehicles (MAVs) share the same airspace, reliable and robust collision avoidance is required. In this paper we address the problem of multi-MAV reactive collision avoidance. We employ a model-based controller to simultaneously track a reference trajectory and avoid collisions. Moreover, to achieve a higher...

The modeling of transfer of steering between automated vehicle and human driver using hybrid control framework

Proponents of autonomous driving pursue driverless technologies, whereas others foresee a gradual transition where there will be automated driving systems that share the control of the vehicle with the driver. With such advances it becomes pertinent that the developed automated systems need to be safe. One crucial aspect of safety is to prove...