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This paper focuses on disturbance propagation in vehicle strings. It is known that using only relative spacing information to follow a constant distance behind the preceding vehicle leads to string instability. Specifically, small disturbances acting on one vehicle can propagate and have a large effect on another vehicle. We show that this limitation is due(More)
—A new method is proposed for designing controllers with arbitrarily small tracking error for uncertain, mismatched nonlinear systems in the strict feedback form. This method is another " synthetic input technique , " similar to backstepping and multiple surface control methods, but with an important addition, 1 low pass filters are included in the design(More)
—An important aspect of an automated highway system design is the synthesis of an automatic vehicle following system. Associated with automatic vehicle following systems is the problem of the stability of a string of vehicles, i.e., the problem of spacing error propagation, and in some cases, amplification upstream from one vehicle to another, due to some(More)
—A robust control design is proposed for the lane-keeping and obstacle avoidance of semiautonomous ground vehicles. A robust Model Predictive Controller (MPC) is used in order to enforce safety constraints with minimal control intervention. An uncertain driver model is used to obtain sets of predicted vehicle trajectories in closed-loop with the predicted(More)
— This paper presents the design of an active safety system for prevention of unintended roadway departures. In normal driving conditions, the driver fully commands the vehicle while the safety system corrects the driver's steering and braking action in case there's a risk that the vehicle unintentionally departs the road. A model of the driver's nominal(More)
—A " complete " fault diagnostic system is developed for automated vehicles operating as a platoon on an automated highway system. The diagnostic system is designed to monitor the complete set of sensors and actuators used by the lateral and longitudinal controllers of the vehicle, including radar sensors, magnetometers and inter-vehicle communication(More)
– A vision-based obstacle detection system for small unmanned aerial vehicles (UAVs) is presented. Obstacles are detected by segmenting the image into sky and non-sky regions and treating the non-sky regions as obstacles. The feasibility of this approach is demonstrated by using the vision output to steer a small unmanned aircraft to fly towards an(More)
403 Fig. 4. The response of the performance function J(u). function has almost only one peak. This means that the decreasing direction for the entropy is toward having a narrow shape of the output probability density function. This is in line with the theoretical analysis as a small entropy means the uncertainty of the output is small, which indicates that(More)