A new optimal control of obstacle avoidance for safer autonomous driving

Pepe, Gianluca; Laurenza, Maicol; Antonelli, Dario; Carcaterra, Antonio

doi:10.23919/eeta.2019.8804549

Cited by 7 publications

(10 citation statements)

References 20 publications

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“…As shown in Figure 17a, at the time 0 s both models have the same spatial configurations and the leader starts braking. As time unfolds, the small world model allows an earlier Figure 17 shows a comparison between the time evolution of the standard car-following and the small world models, considering the braking maneuver of the leader stated by Equation (15); please note that in the modified model the first vehicle that has a long-range connection is the 13th linked with vehicle 10th. As shown in Figure 17a, at the time 0 s both models have the same spatial configurations and the leader starts braking.…”

Section: Analysis Of the Small-world Modelmentioning

confidence: 99%

“…This second element requires the collective behavior of the traffic is robust with respect to the insertion or removal of connections [4,9]. Both the safety and security needs represent big challenges [4,10,[13][14][15] in the autonomous vehicle technology development, and government and regulatory institutions, as well as large private companies, have these actions in their strategic agenda.…”

Section: Introductionmentioning

confidence: 99%

“…Small world model simulated with 100 vehicles and p = 0.1, excited by the braking maneuver imparted by the leader Equation(15). The velocity of each following vehicle, on (top), and velocity of the Leader and velocity of the barycenter, on the (bottom), plotted versus time.…”

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confidence: 99%

“…Comparison between the barycenter's velocity for the standard and small-world model, for the braking maneuver imparted to the leader Equation(15), as inFigures 10 and 12.…”

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confidence: 99%

“…forthcoming paper, where the authors are investigating the main pros and cons provided by the small world model with respect to a queue of vehicles controlled via other algorithms already developed by the authors that use optimal control [15,[43][44][45][46]. Funding: This research received no external funding.…”

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confidence: 99%

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Safe and Secure Control of Swarms of Vehicles by Small-World Theory

et al. 2020

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The present paper investigates a new paradigm to control a swarm of moving individual vehicles, based on the introduction of a few random long-range communications in a queue dominated by short-range car-following dynamics. The theoretical approach adapts the small-world theory, originally proposed in social sciences, to the investigation of these networks. It is shown that the controlled system exhibits properties of higher synchronization and robustness with respect to communication failures. The considered application to a vehicle swarm shows how safety and security of the related traffic dynamics are strongly increased, diminishing the collision probability even in the presence of a hacker attack to some connectivity channels.

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Section: Analysis Of the Small-world Modelmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

mentioning

confidence: 99%

“…Comparison between the barycenter's velocity for the standard and small-world model, for the braking maneuver imparted to the leader Equation(15), as inFigures 10 and 12.…”

mentioning

confidence: 99%

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confidence: 99%

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Safe and Secure Control of Swarms of Vehicles by Small-World Theory

et al. 2020

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Gait Optimization Method for Quadruped Locomotion

Laurenza

Pepe

Carcaterra

2022

NODYCON Conference Proceedings Series

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The scope of the paper is to develop a methodology for finding optimal gaits of a quadruped robot using genetic algorithm, comparing the results to the ones resulting from natural evolution. The optimization is performed over preimposed contact forces to find the best shapes that guarantees the minimum energy consumption during a single stride cycle. The dynamic formulation of the four-dimensional model is developed without involving any specific kinematic mechanism for the legs, considering the entire gait spectrum a quadruped can exhibit. The optimization model consists of a set of constraints that ensure the feasibility and stability of the gaits. Results are presented for an optimization requiring a constant speed of 1.35 𝑚/𝑠. The optimal gait was found to be consistent to nature, suggesting that energy consumption is one of the key factors contributing to the evolution of gaiting patterns in quadrupeds. Eventually, a comparison between different existing gait patterns is carried out in terms of foot contact time and energy consumption.

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