Journal of Autonomous Vehicles and Systems: Recent submissions
Now showing items 21-40 of 51
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Lidar Attenuation Through a Physical Model of Grass-Like Vegetation
(The American Society of Mechanical Engineers (ASME), 2022)Off-road autonomous vehicles face a unique set of challenges compared to those designed for road use. Lane markings and road signs are unavailable, with soft soils, mud, steep slopes, and vegetation taking their place. ... -
Incipient Immobilization Detection for Lightweight Rovers Operating in Deformable Terrain
(The American Society of Mechanical Engineers (ASME), 2023)This article presents a new method of detecting incipient immobilization for a wheeled mobile robot operating in deformable terrain with high spatial variability. This approach uses proprioceptive sensor data from a ... -
Online Robust Model Predictive Control Based Emergency Maneuvering System for Autonomous Vehicles
(The American Society of Mechanical Engineers (ASME), 2022)Nonlinear robust model predictive control (RMPC) provides a promising solution to the problem of automatic emergency maneuvering and it is capable of handling multiple, possibly conflicting objectives of robustness and ... -
Lidar Attenuation Through a Physical Model of GrassLike Vegetation
(The American Society of Mechanical Engineers (ASME), 2022)Offroad autonomous vehicles face a unique set of challenges compared to those designed for road use. Lane markings and road signs are unavailable, with soft soils, mud, steep slopes, and vegetation taking their place. ... -
Value of Information in MultiAttribute Decisions With Applications in Ground Vehicle Autonomy
(The American Society of Mechanical Engineers (ASME), 2022)This work presents some results in the value of information calculations for multiattribute decisionmaking under uncertainty. Almost all engineering activities are undertaken in the face of uncertainty and a decision that ... -
Simultaneous HumanRobot Matching and Routing for MultiRobot Tour Guiding Under Time Uncertainty
(The American Society of Mechanical Engineers (ASME), 2022)This work presents a framework for multirobot tour guidance in a partially known environment with uncertainty, such as a museum. In the proposed centralized multirobot planner, a simultaneous matching and routing problem ... -
SafetyAware Adversarial Inverse Reinforcement Learning for Highway Autonomous Driving
(The American Society of Mechanical Engineers (ASME), 2022)Inverse reinforcement learning (IRL) has been successfully applied in many robotics and autonomous driving studies without the need for handtuning a reward function. However, it suffers from safety issues. Compared to the ... -
Safe Learning Reference Governor: Theory and Application to Fuel Truck Rollover Avoidance
(The American Society of Mechanical Engineers (ASME), 2022)This paper proposes a learning reference governor (LRG) approach to enforce state and control constraints in systems for which an accurate model is unavailable. This approach enables the reference governor to gradually ... -
A MultiObjective Optimization Approach for MultiVehicle Path Planning Problems Considering Human–Robot Interactions
(The American Society of Mechanical Engineers (ASME), 2022)There has been unprecedented development in the field of unmanned ground vehicles (UGVs) over the past few years. UGVs have been used in many fields including civilian and military with applications such as military ... -
RealTime Trajectory Planning for Automated Vehicle Safety and Performance in Dynamic Environments
(The American Society of Mechanical Engineers (ASME), 2021)Safe trajectory planning for highperformance automated vehicles in an environment with both static and moving obstacles is a challenging problem. Part of the challenge is developing a formulation that can be solved in ... -
Design of a SelfBalancing Vehicle As a Test Rig for Safety Control Strategies Investigations
(The American Society of Mechanical Engineers (ASME), 2022)The present paper is related to a research activity concerning selfbalancing vehicles, with particular reference to the interaction between driver and vehicle’s dynamics, at the aim to investigate safety management and ... -
Load Vibration Mitigation in Unmanned Aerial Vehicles With Cable Suspended Load
(The American Society of Mechanical Engineers (ASME), 2022)This paper addresses the problem of pointtopoint path planning of a 3D model of a quadcopter carrying a suspended load by parameterizing its differentially flat outputs. The flat outputs are the Cartesian coordinates of ... -
Can We Localize an Autonomous Vehicle From a Single Image? DeepGeometric Six DegreesofFreedom Localization in TopoMetric Maps
(The American Society of Mechanical Engineers (ASME), 2022)We describe a deepgeometric localizer that is able to estimate the full six degreesoffreedom (DOF) global pose of the camera from a single image in a previously mapped environment. Our map is a topometric one, with discrete ... -
Effects of Body Geometry and Propulsion Type on Unmanned Underwater Vehicle Interactions With Marine Vegetation
(The American Society of Mechanical Engineers (ASME), 2022)Interactions with marine vegetation can disrupt unmanned underwater vehicle missions. Very little information is publicly available about the mechanisms causing these interactions or the consequences of them. This article ... -
Comparing Complementary Kalman Filters Against SLAM for Collaborative Localization of Heterogeneous Multirobot Teams
(The American Society of Mechanical Engineers (ASME), 2022)This paper presents an investigation of collaborative localization for heterogeneous robots, resulting in a scheme for relative localization of a heterogeneous team of low-cost mobile robots. A novel complementary Kalman ... -
Evolution of Simultaneous Localization and Mapping Framework for Autonomous Robotics—A Comprehensive Review
(The American Society of Mechanical Engineers (ASME), 2022)Autonomous robotics plays a pivotal role to simplify human–machine interaction while meeting the current industrial demands. In that process, machine intelligence plays a dominant role during the decision making in the ... -
Extremal Control and Modified Explicit Guidance for Autonomous Unmanned Aerial Vehicles
(The American Society of Mechanical Engineers (ASME), 2022)This study aims to develop and integrate guidance and control functions for applications such as rendezvous and docking, trajectory planning, entry descent and landing, executing maneuvers, and minimum fuel consumption. ... -
Evaluating Tradeoffs for Swarm Reconnaissance With Autonomous Ground Vehicles
(The American Society of Mechanical Engineers (ASME), 2022)Autonomous ground vehicles (AGVs) operating collaboratively have several advantages over vehicles operating alone. An AGV team may be more resilient and efficient than a single AGV. Other advantages of AGV teams include ... -
Distributed Model Predictive Control for Connected and Automated Vehicles in the Presence of Uncertainty
(The American Society of Mechanical Engineers (ASME), 2022)This article focuses on the development of distributed robust model predictive control (MPC) methods for multiple connected and automated vehicles (CAVs) to ensure their safe operation in the presence of uncertainty. The ... -
Modeling and Reinforcement Learning Control of an Autonomous Vehicle to Get Unstuck From a Ditch
(The American Society of Mechanical Engineers (ASME), 2022)Autonomous vehicle control approaches are rapidly being developed for everyday street-driving scenarios. This article considers autonomous vehicle control in a less common, albeit important, situation “a vehicle stuck in ...