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Proceedings Papers

State-Constrained Optimal Solutions for Safe Eco-Approach and Departure at Signalized Intersections

Jihun Han, Dominik Karbowski, Aymeric Rousseau
Proc. ASME. DSCC2020, Volume 1: Adaptive/Intelligent Sys. Control; Driver Assistance/Autonomous Tech.; Control Design Methods; Nonlinear Control; Robotics; Assistive/Rehabilitation Devices; Biomedical/Neural Systems; Building Energy Systems; Connected Vehicle Systems; Control/Estimation of Energy Systems; Control Apps.; Smart Buildings/Microgrids; Education; Human-Robot Systems; Soft Mechatronics/Robotic Components/Systems; Energy/Power Systems; Energy Storage; Estimation/Identification; Vehicle Efficiency/Emissions, V001T10A001, October 5–7, 2020
Paper No: DSCC2020-3150
https://doi.org/10.1115/DSCC2020-3150
View Paper titled, State-Constrained Optimal Solutions for Safe Eco-Approach and Departure at Signalized Intersections
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Topics: Accounting, Autonomous vehicles, Cities, Collisions (Physics), Optimization, Simulation, Vehicles
Proceedings Papers

Modelica-Based Control of a Delta Robot

Ahmed Okasha, Scott A. Bortoff
Proc. ASME. DSCC2020, Volume 1: Adaptive/Intelligent Sys. Control; Driver Assistance/Autonomous Tech.; Control Design Methods; Nonlinear Control; Robotics; Assistive/Rehabilitation Devices; Biomedical/Neural Systems; Building Energy Systems; Connected Vehicle Systems; Control/Estimation of Energy Systems; Control Apps.; Smart Buildings/Microgrids; Education; Human-Robot Systems; Soft Mechatronics/Robotic Components/Systems; Energy/Power Systems; Energy Storage; Estimation/Identification; Vehicle Efficiency/Emissions, V001T05A002, October 5–7, 2020
Paper No: DSCC2020-3158
https://doi.org/10.1115/DSCC2020-3158
View Paper titled, Modelica-Based Control of a Delta Robot
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Topics: Robots, Control algorithms, Simulation, Collisions (Physics), Computer simulation, Design, Differential algebraic equations, Dynamic models, Feedback, Kinematics
Proceedings Papers

Predictive Motion Planning for Autonomous Vehicles With Geometric Constraints via Convex Optimization

Xiaoyuan Zhu, Jian Chen, Yan Ma, Jianqiang Deng, Yuexuan Wang
Proc. ASME. DSCC2020, Volume 2: Intelligent Transportation/Vehicles; Manufacturing; Mechatronics; Engine/After-Treatment Systems; Soft Actuators/Manipulators; Modeling/Validation; Motion/Vibration Control Applications; Multi-Agent/Networked Systems; Path Planning/Motion Control; Renewable/Smart Energy Systems; Security/Privacy of Cyber-Physical Systems; Sensors/Actuators; Tracking Control Systems; Unmanned Ground/Aerial Vehicles; Vehicle Dynamics, Estimation, Control; Vibration/Control Systems; Vibrations, V002T31A001, October 5–7, 2020
Paper No: DSCC2020-3169
https://doi.org/10.1115/DSCC2020-3169
View Paper titled, Predictive Motion Planning for Autonomous Vehicles With Geometric Constraints via Convex Optimization
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Topics: Autonomous vehicles, Optimization, Path planning, Vehicles, Algorithms, Roads, Decision making, Collisions (Physics), Modeling, Simulation results
Proceedings Papers

Contact-Rich Trajectory Generation in Confined Environments Using Iterative Convex Optimization

Wei-Ye Zhao, Suqin He, Chengtao Wen, Changliu Liu
Proc. ASME. DSCC2020, Volume 2: Intelligent Transportation/Vehicles; Manufacturing; Mechatronics; Engine/After-Treatment Systems; Soft Actuators/Manipulators; Modeling/Validation; Motion/Vibration Control Applications; Multi-Agent/Networked Systems; Path Planning/Motion Control; Renewable/Smart Energy Systems; Security/Privacy of Cyber-Physical Systems; Sensors/Actuators; Tracking Control Systems; Unmanned Ground/Aerial Vehicles; Vehicle Dynamics, Estimation, Control; Vibration/Control Systems; Vibrations, V002T31A002, October 5–7, 2020
Paper No: DSCC2020-3208
https://doi.org/10.1115/DSCC2020-3208
View Paper titled, Contact-Rich Trajectory Generation in Confined Environments Using Iterative Convex Optimization
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Topics: Optimization, Trajectories (Physics), Robots, Collisions (Physics), Path planning, Algorithms, Assembly lines, Dynamics (Mechanics), Grinding, Manufacturing
Proceedings Papers

Interaction-Aware Behavior Planning for Autonomous Vehicles Validated With Real Traffic Data

Jinning Li, Liting Sun, Wei Zhan, Masayoshi Tomizuka
Proc. ASME. DSCC2020, Volume 2: Intelligent Transportation/Vehicles; Manufacturing; Mechatronics; Engine/After-Treatment Systems; Soft Actuators/Manipulators; Modeling/Validation; Motion/Vibration Control Applications; Multi-Agent/Networked Systems; Path Planning/Motion Control; Renewable/Smart Energy Systems; Security/Privacy of Cyber-Physical Systems; Sensors/Actuators; Tracking Control Systems; Unmanned Ground/Aerial Vehicles; Vehicle Dynamics, Estimation, Control; Vibration/Control Systems; Vibrations, V002T31A005, October 5–7, 2020
Paper No: DSCC2020-3328
https://doi.org/10.1115/DSCC2020-3328
View Paper titled, Interaction-Aware Behavior Planning for Autonomous Vehicles Validated With Real Traffic Data
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Topics: Autonomous vehicles, Traffic, Algorithms, Collisions (Physics), Engineering simulation, Finishes, Simulation, Uncertainty
Proceedings Papers

Uncertainty and Disturbance Estimator-Based Robust Region Tracking Control for Multiple Quadrotors

Qi Lu, Beibei Ren, Yuan-dong Ji
Proc. ASME. DSCC2020, Volume 2: Intelligent Transportation/Vehicles; Manufacturing; Mechatronics; Engine/After-Treatment Systems; Soft Actuators/Manipulators; Modeling/Validation; Motion/Vibration Control Applications; Multi-Agent/Networked Systems; Path Planning/Motion Control; Renewable/Smart Energy Systems; Security/Privacy of Cyber-Physical Systems; Sensors/Actuators; Tracking Control Systems; Unmanned Ground/Aerial Vehicles; Vehicle Dynamics, Estimation, Control; Vibration/Control Systems; Vibrations, V002T36A009, October 5–7, 2020
Paper No: DSCC2020-3308
https://doi.org/10.1115/DSCC2020-3308
View Paper titled, Uncertainty and Disturbance Estimator-Based Robust Region Tracking Control for Multiple Quadrotors
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Topics: Tracking control, Uncertainty, Trajectories (Physics), Collisions (Physics), Control equipment, Degrees of freedom, Dynamics (Mechanics), Simulation
Proceedings Papers

Distributionally Robust Stochastic Model Predictive Control for Collision Avoidance

Baisravan HomChaudhuri
Proc. ASME. DSCC2019, Volume 2: Modeling and Control of Engine and Aftertreatment Systems; Modeling and Control of IC Engines and Aftertreatment Systems; Modeling and Validation; Motion Planning and Tracking Control; Multi-Agent and Networked Systems; Renewable and Smart Energy Systems; Thermal Energy Systems; Uncertain Systems and Robustness; Unmanned Ground and Aerial Vehicles; Vehicle Dynamics and Stability; Vibrations: Modeling, Analysis, and Control, V002T14A005, October 8–11, 2019
Paper No: DSCC2019-9160
https://doi.org/10.1115/DSCC2019-9160
View Paper titled, Distributionally Robust Stochastic Model Predictive Control for Collision Avoidance
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Topics: Collisions (Physics), Predictive control, Statistical distributions, Ambiguity, Control equipment, Computer programming, Design, Linear matrix inequalities, Optimization, Robots
Proceedings Papers

Analysis of a Novel Command Governor-Based Adaptive Cruise Controller for Non-Cooperative Vehicle Following

Ben Groelke, Christian Earnhardt, John Borek, Chris Vermillion
Proc. ASME. DSCC2019, Volume 3, Rapid Fire Interactive Presentations: Advances in Control Systems; Advances in Robotics and Mechatronics; Automotive and Transportation Systems; Motion Planning and Trajectory Tracking; Soft Mechatronic Actuators and Sensors; Unmanned Ground and Aerial Vehicles, V003T18A012, October 8–11, 2019
Paper No: DSCC2019-9196
https://doi.org/10.1115/DSCC2019-9196
View Paper titled, Analysis of a Novel Command Governor-Based Adaptive Cruise Controller for Non-Cooperative Vehicle Following
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Topics: Control equipment, Governors, Vehicles, Braking, Torque, Wheels, Brakes, Collisions (Physics), Engineering simulation, Fuels
Proceedings Papers

Cooperative Collision Avoidance Control of Robotic Fish Propelled by a Servo/IPMC Driven Hybrid Tail

Xiongfeng Yi, Zheng Chen, Animesh Chakravarthy
Proc. ASME. DSCC2019, Volume 3, Rapid Fire Interactive Presentations: Advances in Control Systems; Advances in Robotics and Mechatronics; Automotive and Transportation Systems; Motion Planning and Trajectory Tracking; Soft Mechatronic Actuators and Sensors; Unmanned Ground and Aerial Vehicles, V003T20A011, October 8–11, 2019
Paper No: DSCC2019-9228
https://doi.org/10.1115/DSCC2019-9228
View Paper titled, Cooperative Collision Avoidance Control of Robotic Fish Propelled by a Servo/IPMC Driven Hybrid Tail
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Topics: Collisions (Physics), Robotics, Servomechanisms, Servomotors, Relaxation (Physics), Transfer functions, Composite materials, Metals, Polymers, Trajectories (Physics)
Proceedings Papers

Integrated Forward and Reverse Trajectory Tracking Control for Car-Like Ground Vehicle

Yuanyan Chen, J. Jim Zhu, Letian Lin
Proc. ASME. DSCC2019, Volume 3, Rapid Fire Interactive Presentations: Advances in Control Systems; Advances in Robotics and Mechatronics; Automotive and Transportation Systems; Motion Planning and Trajectory Tracking; Soft Mechatronic Actuators and Sensors; Unmanned Ground and Aerial Vehicles, V003T21A007, October 8–11, 2019
Paper No: DSCC2019-9104
https://doi.org/10.1115/DSCC2019-9104
View Paper titled, Integrated Forward and Reverse Trajectory Tracking Control for Car-Like Ground Vehicle
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Topics: Tracking control, Trajectories (Physics), Vehicles, Design, Kinematics, Control equipment, Dynamics (Mechanics), Hardware, Collisions (Physics), Nonlinear dynamics
Proceedings Papers

Motion Planning for Industrial Mobile Robots With Closed-Loop Stability Enhanced Prediction

Jessica Leu, Masayoshi Tomizuka
Proc. ASME. DSCC2019, Volume 3, Rapid Fire Interactive Presentations: Advances in Control Systems; Advances in Robotics and Mechatronics; Automotive and Transportation Systems; Motion Planning and Trajectory Tracking; Soft Mechatronic Actuators and Sensors; Unmanned Ground and Aerial Vehicles, V003T19A009, October 8–11, 2019
Paper No: DSCC2019-9208
https://doi.org/10.1115/DSCC2019-9208
View Paper titled, Motion Planning for Industrial Mobile Robots With Closed-Loop Stability Enhanced Prediction
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Topics: Mobile robots, Path planning, Stability, Robots, Human-robot interaction, Algorithms, Clearances (Engineering), Collisions (Physics), Delays, Engineering simulation
Proceedings Papers

Safe, Aggressive Quadrotor Flight via Reachability-Based Trajectory Design

Shreyas Kousik, Patrick Holmes, Ram Vasudevan
Proc. ASME. DSCC2019, Volume 3, Rapid Fire Interactive Presentations: Advances in Control Systems; Advances in Robotics and Mechatronics; Automotive and Transportation Systems; Motion Planning and Trajectory Tracking; Soft Mechatronic Actuators and Sensors; Unmanned Ground and Aerial Vehicles, V003T19A010, October 8–11, 2019
Paper No: DSCC2019-9214
https://doi.org/10.1115/DSCC2019-9214
View Paper titled, Safe, Aggressive Quadrotor Flight via Reachability-Based Trajectory Design
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Topics: Design, Flight, Trajectories (Physics), Uncertainty, Errors, Collisions (Physics), Engineering simulation, Inspection, Robots, Safety
Proceedings Papers

Assembly Planning Using a Two-Arm System for Polygonal Furniture

Seth T. Payne, C. Fletcher Garrison, IV, Steven E. Markham, Tucker Hermans, Kam K. Leang
Proc. ASME. DSCC2019, Volume 3, Rapid Fire Interactive Presentations: Advances in Control Systems; Advances in Robotics and Mechatronics; Automotive and Transportation Systems; Motion Planning and Trajectory Tracking; Soft Mechatronic Actuators and Sensors; Unmanned Ground and Aerial Vehicles, V003T17A008, October 8–11, 2019
Paper No: DSCC2019-9173
https://doi.org/10.1115/DSCC2019-9173
View Paper titled, Assembly Planning Using a Two-Arm System for Polygonal Furniture
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Topics: Manufacturing, Algorithms, Robotics, Collisions (Physics), Computer-aided design, Finishing, Manipulators, Path planning, Simulation
Proceedings Papers

On Receding Horizon Chance Constraint Motion Planning for Uncertain Multi-Agent Systems

Yash Bagla, Vaibhav Srivastava
Proc. ASME. DSCC2019, Volume 3, Rapid Fire Interactive Presentations: Advances in Control Systems; Advances in Robotics and Mechatronics; Automotive and Transportation Systems; Motion Planning and Trajectory Tracking; Soft Mechatronic Actuators and Sensors; Unmanned Ground and Aerial Vehicles, V003T19A012, October 8–11, 2019
Paper No: DSCC2019-9237
https://doi.org/10.1115/DSCC2019-9237
View Paper titled, On Receding Horizon Chance Constraint Motion Planning for Uncertain Multi-Agent Systems
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Topics: Multi-agent systems, Path planning, Algorithms, Uncertainty, Collisions (Physics), Noise (Sound), Risk, Sensors, Tradeoffs
Proceedings Papers

Shared Control Between Human Driver and Automation in Cooperative Driving Based on Game Theoretic Model Predictive Control

Sangjin Ko, Reza Langari
Proc. ASME. DSCC2019, Volume 3, Rapid Fire Interactive Presentations: Advances in Control Systems; Advances in Robotics and Mechatronics; Automotive and Transportation Systems; Motion Planning and Trajectory Tracking; Soft Mechatronic Actuators and Sensors; Unmanned Ground and Aerial Vehicles, V003T18A004, October 8–11, 2019
Paper No: DSCC2019-9053
https://doi.org/10.1115/DSCC2019-9053
View Paper titled, Shared Control Between Human Driver and Automation in Cooperative Driving Based on Game Theoretic Model Predictive Control
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Topics: Predictive control, Shared control, Safety, Collisions (Physics), Simulation, Errors, Matlab, Probability, Simulation results
Proceedings Papers

Ensured Collision Avoidance Over a Finite Time Horizon for Autonomous Vehicles in Presence of Uncertainty

Seyedeh Mahsa Sotoudeh, Baisravan HomChaudhuri
Proc. ASME. DSCC2019, Volume 1: Advanced Driver Assistance and Autonomous Technologies; Advances in Control Design Methods; Advances in Robotics; Automotive Systems; Design, Modeling, Analysis, and Control of Assistive and Rehabilitation Devices; Diagnostics and Detection; Dynamics and Control of Human-Robot Systems; Energy Optimization for Intelligent Vehicle Systems; Estimation and Identification; Manufacturing, V001T01A003, October 8–11, 2019
Paper No: DSCC2019-9065
https://doi.org/10.1115/DSCC2019-9065
View Paper titled, Ensured Collision Avoidance Over a Finite Time Horizon for Autonomous Vehicles in Presence of Uncertainty
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Topics: Collisions (Physics), Uncertainty, Vehicles, Safety, Path planning, Predictive control, Simulation results
Proceedings Papers

Decentralized 3D PDE Based Collaborative Trajectory Planning and Target Surrounding for Swarm of UAVs in Cluttered Environment

Mohammadreza Radmanesh, Manish Kumar, David Casbeer, Kelly Cohen
Proc. ASME. DSCC2018, Volume 3: Modeling and Validation; Multi-Agent and Networked Systems; Path Planning and Motion Control; Tracking Control Systems; Unmanned Aerial Vehicles (UAVs) and Application; Unmanned Ground and Aerial Vehicles; Vibration in Mechanical Systems; Vibrations and Control of Systems; Vibrations: Modeling, Analysis, and Control, V003T36A006, September 30–October 3, 2018
Paper No: DSCC2018-9137
https://doi.org/10.1115/DSCC2018-9137
View Paper titled, Decentralized 3D PDE Based Collaborative Trajectory Planning and Target Surrounding for Swarm of UAVs in Cluttered Environment
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Topics: Trajectories (Physics), Unmanned aerial vehicles, Flight, Collisions (Physics), Computer simulation, Optimization, Partial differential equations, Path planning, Separation (Technology)
Proceedings Papers

Trust-Based Runtime Verification for Multi-Quad-Rotor Motion Planning With a Human-in-the-Loop

Maziar Fooladi Mahani, Yue Wang
Proc. ASME. DSCC2018, Volume 3: Modeling and Validation; Multi-Agent and Networked Systems; Path Planning and Motion Control; Tracking Control Systems; Unmanned Aerial Vehicles (UAVs) and Application; Unmanned Ground and Aerial Vehicles; Vibration in Mechanical Systems; Vibrations and Control of Systems; Vibrations: Modeling, Analysis, and Control, V003T32A014, September 30–October 3, 2018
Paper No: DSCC2018-9174
https://doi.org/10.1115/DSCC2018-9174
View Paper titled, Trust-Based Runtime Verification for Multi-Quad-Rotor Motion Planning With a Human-in-the-Loop
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Topics: Path planning, Rotors, Human-robot interaction, Control equipment, Collisions (Physics), Decision making, Robots, Theoretical methods
Proceedings Papers

Integrated Steering and Braking Control System for Collision Avoidance by Using Virtual Repulsive Force Field Method

Atsushi Yokoyama, Pongsathorn Raksincharoensak, Naoto Yoshikawa
Proc. ASME. DSCC2018, Volume 2: Control and Optimization of Connected and Automated Ground Vehicles; Dynamic Systems and Control Education; Dynamics and Control of Renewable Energy Systems; Energy Harvesting; Energy Systems; Estimation and Identification; Intelligent Transportation and Vehicles; Manufacturing; Mechatronics; Modeling and Control of IC Engines and Aftertreatment Systems; Modeling and Control of IC Engines and Powertrain Systems; Modeling and Management of Power Systems, V002T22A001, September 30–October 3, 2018
Paper No: DSCC2018-8907
https://doi.org/10.1115/DSCC2018-8907
View Paper titled, Integrated Steering and Braking Control System for Collision Avoidance by Using Virtual Repulsive Force Field Method
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Topics: Braking control, Collisions (Physics), Control equipment, Roads, Algebra, Design, Feedback, Feedforward control, Friction, Motion control
Proceedings Papers

Navigation Strategies for a Multi-Robot Ground-Based Row Crop Phenotyping Platform

Tianshuang Gao, Hamid Emadi, Homagni Saha, Jiaoping Zhang, Alec Lofquist, Arti Singh, Baskar Ganapathysubramanian, Soumik Sarkar, Asheesh Singh, Sourabh Bhattacharya
Proc. ASME. DSCC2018, Volume 3: Modeling and Validation; Multi-Agent and Networked Systems; Path Planning and Motion Control; Tracking Control Systems; Unmanned Aerial Vehicles (UAVs) and Application; Unmanned Ground and Aerial Vehicles; Vibration in Mechanical Systems; Vibrations and Control of Systems; Vibrations: Modeling, Analysis, and Control, V003T32A009, September 30–October 3, 2018
Paper No: DSCC2018-9096
https://doi.org/10.1115/DSCC2018-9096
View Paper titled, Navigation Strategies for a Multi-Robot Ground-Based Row Crop Phenotyping Platform
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Topics: Navigation, Robots, Algorithms, Collisions (Physics), Engineering simulation, Scalar functions, Simulation, Teams