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Less Conservatism, Stronger Robustness: Iterative Robust Gain-Scheduled Path Following Control of Autonomous Bus With Unstructured and Changing Dynamics

Related publications (36)

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Dexterous Underwater Manipulation from Distant Onshore Locations

Sylvain Calinon, Ajay Kumar Tanwani

Underwater manipulation is a challenging problem. The state of the art is dominated by Remotely Operated Vehicles (ROV). ROV operations typically require an offshore crew consisting of at least an intendant, an operator, and a navigator. This crew often ha ...

2018

The SaPPART COST Action: main outcomes and deliverables

Pierre-Yves Gilliéron

The deployment of autonomous vehicles is becoming a reality on the European road network and will significantly affect the future liability of different actors in the road and transport sectors. Liability is strongly linked with the trust that you can have ...

2017

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We study the problem of simultaneously reconstructing a polygonal room and a trajectory of a device equipped with a (nearly) collocated omnidirectional source and receiver. The device measures arrival times of echoes of pulses emitted by the source and pic ...

2016

Design of a Distributed Quantized Luenberger Filter for Bounded Noise

Colin Neil Jones, Ye Pu, Andrea Alessandretti, Francisco Fernandes Castro Rego

This paper addresses the problem of distributed state estimation for linear systems with process and measurement noise, in the case of limited communication data rate, where the data exchanged between agents is quantized. We propose a linear distributed Lu ...

Ieee2016

The Poisson likelihood with rectified linear function as non-linearity is a physically plausible model to discribe the stochastic arrival process of photons or other particles at a detector. At low emission rates the discrete nature of this process leads t ...

2015

Towards evasive maneuvers with quadrotors using dynamic vision sensors

Davide Scaramuzza

We present a method to predict collisions with objects thrown at a quadrotor using a pair of dynamic vision sensors (DVS). Due to the micro-second temporal resolution of these sensors and the sparsity of their output, the object's trajectory can be estimat ...

IEEE2015

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This paper applies a novel two-layer optimizing control scheme to a kite-control benchmark problem. The upper layer is a recent real-time optimization algorithm, called Directional Modifier Adaptation, which represents a variation of the popular Modifier A ...

IEEE2015

Dynamic Information Acquisition

Thomas Alois Weber, Viet Anh Nguyen

We consider optimal information acquisition for the control of linear discrete-time random systems with noisy observations and apply the findings to the problem of dynamically implementing emissions-reduction targets. The optimal policy, which is provided ...

2015

Ad Hoc Microphone Array Calibration: Euclidean Distance Matrix Completion Algorithm and Theoretical Guarantees

Hervé Bourlard, Philip Neil Garner, Afsaneh Asaei, Mohammadjavad Taghizadeh, Reza Parhizkar

This paper addresses the problem of ad hoc microphone array calibration where only partial information about the distances between the microphones is available. We construct a matrix consisting of the pairwise distances and propose to estimate the missing ...

2015

A fully coupled method for reproducing road vehicle-bridge dynamic interaction is presented in which finite element models are used for the structure, multibody dynamics models for the vehicles and interaction is represented by means of a contact with the ...

Elsevier Ltd2013