Model Predictive Control Based Trajectory Generation for Autonomous Vehicles - An Architectural Approach

Research in the field of automated driving has created promising results in the last years. Some research groups have shown perception systems which are able to capture even complicated urban scenarios in great detail. Yet, what is often missing are general-purpose path- or trajectory planners which are not designed for a specific purpose. In this paper we look at path- and trajectory planning from an architectural point of view and show how model predictive frameworks can contribute to generalized path- and trajectory generation approaches for generating safe trajectories even in cases of system failures.Comment: Presented at IEEE Intelligent Vehicles Symposium 2017, Los Angeles, CA, US

Time-Optimal Path Tracking via Reachability Analysis

Given a geometric path, the Time-Optimal Path Tracking problem consists in finding the control strategy to traverse the path time-optimally while regulating tracking errors. A simple yet effective approach to this problem is to decompose the controller into two components: (i)~a path controller, which modulates the parameterization of the desired path in an online manner, yielding a reference trajectory; and (ii)~a tracking controller, which takes the reference trajectory and outputs joint torques for tracking. However, there is one major difficulty: the path controller might not find any feasible reference trajectory that can be tracked by the tracking controller because of torque bounds. In turn, this results in degraded tracking performances. Here, we propose a new path controller that is guaranteed to find feasible reference trajectories by accounting for possible future perturbations. The main technical tool underlying the proposed controller is Reachability Analysis, a new method for analyzing path parameterization problems. Simulations show that the proposed controller outperforms existing methods.Comment: 6 pages, 3 figures, ICRA 201

Two-dimensional tunneling in a SQUID

Traditionally quantum tunneling in a static SQUID is studied on the basis of a classical trajectory in imaginary time under a two-dimensional potential barrier. The trajectory connects a potential well and an outer region crossing their borders in perpendicular directions. In contrast to that main-path mechanism, a wide set of trajectories with components tangent to the border of the well can constitute an alternative mechanism of multi-path tunneling. The phenomenon is essentially non-one-dimensional. Continuously distributed paths under the barrier result in enhancement of tunneling probability. A type of tunneling mechanism (main-path or multi-path) depends on character of a state in the potential well prior to tunneling.Comment: 9 pages, 8 figure

Trajectory analysis for fusion path in superheavy-mass region

We propose an effective method for the precise investigation of the fusion-fission mechanism in the superheavy-mass region, using the fluctuation-dissipation model. The trajectory calculation with friction is performed in the nuclear deformation space using the Langevin equation. In the reaction $^{48}$Ca+$^{244}$Pu, the trajectories are classified into the fusion-fission process, the quasi-fission process and the deep quasi-fission process. By analyzing the time evolution of each trajectory, the mechanism of each process is clearly revealed, i.e., it is explained why a trajectory takes a characteristic path in this model. We discuss, in particular, the condition under which the fusion path is followed, which is crucial in the discussion of the possibility of synthesizing superheavy elements.Comment: 25 pages, 12 figures, accepted for publication in Nuclear Physics

NASA Facts: Voyager

A news release on NASA's Voyager project is presented. The spacecraft, science instrumentation, experiments and a mission profile are described. A drawing identifying Voyager's major components and instrumentation was included along with diagrams showing the path of Voyager 1 (JST trajectory) past Jupiter, and the path of Voyager 2 (JXT trajectory) during its encounter with Jupiter. An exercise for student involvement was also provided

Admissible Velocity Propagation : Beyond Quasi-Static Path Planning for High-Dimensional Robots

Path-velocity decomposition is an intuitive yet powerful approach to address the complexity of kinodynamic motion planning. The difficult trajectory planning problem is solved in two separate, simpler, steps: first, find a path in the configuration space that satisfies the geometric constraints (path planning), and second, find a time-parameterization of that path satisfying the kinodynamic constraints. A fundamental requirement is that the path found in the first step should be time-parameterizable. Most existing works fulfill this requirement by enforcing quasi-static constraints in the path planning step, resulting in an important loss in completeness. We propose a method that enables path-velocity decomposition to discover truly dynamic motions, i.e. motions that are not quasi-statically executable. At the heart of the proposed method is a new algorithm -- Admissible Velocity Propagation -- which, given a path and an interval of reachable velocities at the beginning of that path, computes exactly and efficiently the interval of all the velocities the system can reach after traversing the path while respecting the system kinodynamic constraints. Combining this algorithm with usual sampling-based planners then gives rise to a family of new trajectory planners that can appropriately handle kinodynamic constraints while retaining the advantages associated with path-velocity decomposition. We demonstrate the efficiency of the proposed method on some difficult kinodynamic planning problems, where, in particular, quasi-static methods are guaranteed to fail.Comment: 43 pages, 14 figure

Optic flow based perception of two-dimensional trajectories and the effects of a single landmark.

It is well established that human observers can detect their heading direction on a very short time scale on the basis of optic flow (500ms; Hooge et al., 2000). Can they also integrate these perceptions over time to reconstruct a 2D trajectory simulated by the optic flow stimulus? We investigated the visual perception and reconstruction of passively travelled two-dimensional trajectories from optic flow with and without a single landmark. Stimuli in which translation and yaw are unyoked can give rise to illusory percepts; using a structured visual environment instead of only dots can improve perception of these stimuli. Does the additional visual and/or extra-retinal information provided by a single landmark have a similar, beneficial effect? Here, seated, stationary subjects wore a head-mounted display showing optic flow stimuli that simulated various manoeuvres: linear or curvilinear 2D trajectories over a horizontal ground plane. The simulated orientation was either fixed in space, fixed relative to the path, or changed relative to both. Afterwards, subjects reproduced the perceived manoeuvre with a model vehicle, of which we recorded position and orientation. Yaw was perceived correctly. Perception of the travelled path was less accurate, but still good when the simulated orientation was fixed in space or relative to the trajectory. When the amount of yaw was not equal to the rotation of the path, or in the opposite direction, subjects still perceived orientation as fixed relative to the trajectory. This caused trajectory misperception because yaw was wrongly attributed to a rotation of the path. A single landmark could improve perception