RISE-Based Integrated Motion Control of Autonomous Ground Vehicles With Asymptotic Prescribed Performance

Discrete Geometric Motion Control of Autonomous Vehicles

The goal of this work is to develop methods to optimally control autonomous robotic vehicles in natural environments. The main contribution is the derivation of state-space structure respecting integration and optimization schemes for mechanical systems with symmetries, controllable shape dynamics, and nonholonomic constraints based on the theory of discrete mechanics. At the core of this appro...

Spatial Predictive Control for Agile Semi-Autonomous Ground Vehicles

This paper presents a formulation to the obstacle avoidance problem for semi-autonomous ground vehicles. The planning and tracking problems have been divided into a two-level hierarchical controller. The high level solves a nonlinear model predictive control problem to generate a feasible and obstacle free path. It uses a nonlinear vehicle model and utilizes a coordinate transformation which us...

Motion coordination and control in systems of nonholonomic autonomous vehicles

Autonomous underwater vehicles: Hybrid control of mission and motion

Coordinated Motion Control of Multiple Autonomous Underwater Vehicles

Spawned by recent advances in technology, widespread attention has been focused on the coordination of multiple autonomous vehicles. In numerous mission scenarios, the concept of a group of agents cooperating to achieve a determined goal is very attractive when compared with the solution of one single, heavily equipped vehicle, as it exhibits better performance in terms of efficiency, flexibili...