An open-source vehicle testbed to enable the exploration of automation technologies for road vehicles is presented. The platform hardware and software, based on the Robot Operating System (ROS), are detailed. Two methods are discussed for enabling the remote control of a vehicle (in this case, an electric 2013 Ford Focus). The first approach used digital filtering of Controller Area Network (CA...

Automatic vehicle following is an important feature of a fully or partially automated highway system (AHS). The on-board control should be able to accept and process inputs from the driver, infrastructure, other vehicles, perform diagnostics, provide appropriate commands actuators so that resulting motion safe compatible with AHS objectives. purpose this article design test in order achieve ful...

This paper addresses the problem of path-following in two-dimensional space for underactuated unmanned surface vehicles (USVs), defining a set of guidance laws at kinematic level. The proposed nonlinear Lyapunov-based control law yields convergence of the path following error coordinates to zero. Furthermore, the introduction of a virtual controlled degree of freedom for the target to be follow...

Appendicitis and trauma both present in emergency department commonly but their presentation together in the same patient is unusual. We present a case of a middle-aged man brought by emergency medical services (EMS) to the emergency department with complaints of abdominal pain after he was involved in motor vehicle collision. He was perfectly fine before the accident. His primary survey was no...

In this paper, we formulate a virtual target-based path following guidance law aimed towards multi-vehicle path following problem. The guidance law is well suited to precisely follow circular paths while minting desired distance between two adjacent vehicles where path information is only available to the lead vehicle. We analytically show lateral and longitudnal stability and convergence on th...

This paper addresses the problem of marine vehicle path following using innerouter loop control, with due account for the vehicle dynamics. We propose an inner-outer control structure that lends itself to a simple intuitive interpretation and exhibits three key advantages: i) it allows for decoupling in the design of the inner and outer control loops, ii) the design of the outer loop controller...