Constraint-based planning and control for safe, semi-autonomous operation of vehicles

By S. J. Anderson, Sisir Karumanchi, K. Iagnemma. 2012

126 citations recorded by the source corpus.

How researchers see this paper

The researchers whose trusted networks rank it highest, strongest advocate first. Every researcher gets a different order.

A Survey of Autonomous Driving: Common Practices and Emerging Technologies (2019, background): “g, a safety constraint [72] can be implemented on top of a sophisticated planning module to force some hardcoded emergency rules without modifying the inner workings of the planner.”
Residual Policy Learning for Shared Autonomy (2020, methodology): “In an effort to provide the user with more control, other methods seek to minimally augment user control to satisfy particular conditions (e.g., collision-avoidance) [11, 13, 20, 28] or to obey constraints [1, 6, 7, 18, 31, 46].”
Shared Steering Control Using Safe Envelopes for Obstacle Avoidance and Vehicle Stability (2016, methodology): “use such a constraint-based, pathless MPC approach to share control of teleoperated ground vehicles so that the controller’s influence on the final command increases with the severity of the predicted maneuver [7].”