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Proceedings Papers

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

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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
Publisher: American Society of Mechanical Engineers
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

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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
Publisher: American Society of Mechanical Engineers
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

Optimal Path Planning for a Team of Heterogeneous Drones to Monitor Agricultural Fields

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Saba Faryadi, Mohammadreza Davoodi, Javad Mohammadpour Velni
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, V002T36A006, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3244
https://doi.org/10.1115/DSCC2020-3244
View Paper titled, Optimal Path Planning for a Team of Heterogeneous Drones to Monitor Agricultural Fields
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Topics: Path planning, Teams, Unmanned aerial vehicles, Vehicles
Proceedings Papers

Safe Decision and Control of Connected Automated Vehicles for an Unprotected Left Turn

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Sanghoon Oh, Linjun Zhang, Eric Tseng, Wayne Williams, Helen Kourous, Gabor Orosz
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, V001T10A005, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3335
https://doi.org/10.1115/DSCC2020-3335
View Paper titled, Safe Decision and Control of Connected Automated Vehicles for an Unprotected Left Turn
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Topics: Autonomous vehicles, Safety, Vehicles, Algorithms, Decision making, Control equipment, Path planning, Roads
Proceedings Papers

A Lateral Motion Planning Method for Automated Vehicles Based on Sinusoids

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Wei Wang, Zejiang Wang, Xinbo Chen, Junmin Wang
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, V001T02A002, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3115
https://doi.org/10.1115/DSCC2020-3115
View Paper titled, A Lateral Motion Planning Method for Automated Vehicles Based on Sinusoids
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Topics: Autonomous vehicles, Path planning
Proceedings Papers

Motion Planning for Autonomous Driving With Extended Constrained Iterative LQR

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Yutaka Shimizu, Wei Zhan, Liting Sun, Jianyu Chen, Shinpei Kato, Masayoshi Tomizuka
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, V001T12A001, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3138
https://doi.org/10.1115/DSCC2020-3138
View Paper titled, Motion Planning for Autonomous Driving With Extended Constrained Iterative LQR
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Topics: Algorithms, Driverless cars, Path planning, Simulation results, Trajectories (Physics), Vehicles
Proceedings Papers

Erratum: “Modeling the Gas Exchange Processes of a Modern Diesel Engine With an Integrated Physics-Based and Data-Driven Approach” [ASME 2019 Dynamic Systems and Control Conference, 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, Park City, Utah, USA, October 8–11, 2019, Conference Sponsors: Dynamic Systems and Control Division, ISBN: 978-0-7918-5915-5, Copyright © 2019 by ASME. Paper No. DSCC2019-9226, pp. V002T11A004; 10 pages; doi: 10.1115/DSCC2019-9226]

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Jorge Pulpeiro Gonzalez, King Ankobea-Ansah, Elena Escuder Milian, Carrie M. Hall
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, V002T11A004e, October 8–11, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2019-9226e
https://doi.org/10.1115/DSCC2019-9226e
View Paper titled, Erratum: “Modeling the Gas Exchange Processes of a Modern Diesel Engine With an Integrated Physics-Based and Data-Driven Approach” [ASME 2019 Dynamic Systems and Control Conference, 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, Park City, Utah, USA, October 8–11, 2019, Conference Sponsors: Dynamic Systems and Control Division, ISBN: 978-0-7918-5915-5, Copyright © 2019 by ASME. Paper No. DSCC2019-9226, pp. V002T11A004; 10 pages; doi: 10.1115/DSCC2019-9226]
Open the PDF for Erratum: “Modeling the Gas Exchange Processes of a Modern Diesel Engine With an Integrated Physics-Based and Data-Driven Approach” [ASME 2019 Dynamic Systems and Control Conference, 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, Park City, Utah, USA, October 8–11, 2019, Conference Sponsors: Dynamic Systems and Control Division, ISBN: 978-0-7918-5915-5, Copyright © 2019 by ASME. Paper No. DSCC2019-9226, pp. V002T11A004; 10 pages; doi: 10.1115/DSCC2019-9226] in another window
Topics: Aircraft, Control modeling, Diesel engines, Dynamic systems, Energy / power systems, Engines, Internal combustion engines, Modeling, Modeling analysis, Path planning
Proceedings Papers

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

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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
Publisher: American Society of Mechanical Engineers
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

Geometric Trajectory Planning for Robot Motion Over a 3D Surface

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Bashir Hosseini Jafari, Nolan Walker, Ronald Smaldone, Nicholas Gans
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, V003T19A006, October 8–11, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2019-9063
https://doi.org/10.1115/DSCC2019-9063
View Paper titled, Geometric Trajectory Planning for Robot Motion Over a 3D Surface
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Topics: Robot motion, Trajectories (Physics), Printing, Design, End effectors, Engineering simulation, Mobile robots, Optimization, Path planning, Simulation
Proceedings Papers

Two Segments (Plus) Path Planning of Automatic Parking Assist System for 4WS Vehicles

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Yiwen Huang, Thiagarajan Chidambareswaran, Chuan Chang, Yan Chen
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, V001T01A001, October 8–11, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2019-9005
https://doi.org/10.1115/DSCC2019-9005
View Paper titled, Two Segments (Plus) Path Planning of Automatic Parking Assist System for 4WS Vehicles
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Topics: Path planning, Ultrasonic transducers, Vehicles
Proceedings Papers

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

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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
Publisher: American Society of Mechanical Engineers
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

Experimental Autonomous Deep Learning-Based 3D Path Planning for a 7-DOF Robot Manipulator

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Alex Bertino, Mostafa Bagheri, Miroslav Krstić, Peiman Naseradinmousavi
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, V002T14A002, October 8–11, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2019-8951
https://doi.org/10.1115/DSCC2019-8951
View Paper titled, Experimental Autonomous Deep Learning-Based 3D Path Planning for a 7-DOF Robot Manipulator
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Topics: Manipulators, Path planning, Artificial neural networks, Computers, Errors, Trajectories (Physics)
Proceedings Papers

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

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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
Publisher: American Society of Mechanical Engineers
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

Assembly Planning Using a Two-Arm System for Polygonal Furniture

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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
Publisher: American Society of Mechanical Engineers
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

Human-Robot Trust Integrated Task Allocation and Symbolic Motion Planning for Heterogeneous Multi-Robot Systems

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Huanfei Zheng, Zhanrui Liao, 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, V003T30A010, September 30–October 3, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2018-9161
https://doi.org/10.1115/DSCC2018-9161
View Paper titled, Human-Robot Trust Integrated Task Allocation and Symbolic Motion Planning for Heterogeneous Multi-Robot Systems
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Topics: Path planning, Robots, Trust models, Safety, Simulation
Proceedings Papers

Path Control of a Heat Treatment Truck Considering Driver-Vehicle Interaction

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Andong Dai, Yunjun Xu
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, V003T32A006, September 30–October 3, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2018-9040
https://doi.org/10.1115/DSCC2018-9040
View Paper titled, Path Control of a Heat Treatment Truck Considering Driver-Vehicle Interaction
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Topics: Heat treating (Metalworking), Trucks, Vehicles, Control equipment, Actuators, Computers, Control systems, Errors, Heat, Noise (Sound)
Proceedings Papers

Geometric Motion Planning for Systems With Toroidal and Cylindrical Shape Spaces

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Chaohui Gong, Zhongqiang Ren, Julian Whitman, Jaskaran Grover, Baxi Chong, Howie Choset
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, V003T32A013, September 30–October 3, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2018-9144
https://doi.org/10.1115/DSCC2018-9144
View Paper titled, Geometric Motion Planning for Systems With Toroidal and Cylindrical Shape Spaces
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Topics: Path planning, Shapes, Space, Trajectories (Physics), Dimensions, Displacement, Kinematics, Particle spin, Robotics, Rotation
Proceedings Papers

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

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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
Publisher: American Society of Mechanical Engineers
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

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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
Publisher: American Society of Mechanical Engineers
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

Predictively Coordinated Vehicle Acceleration and Lane Selection Using Mixed Integer Programming

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R. Austin Dollar, Ardalan Vahidi
Proc. ASME. DSCC2018, Volume 1: Advances in Control Design Methods; Advances in Nonlinear Control; Advances in Robotics; Assistive and Rehabilitation Robotics; Automotive Dynamics and Emerging Powertrain Technologies; Automotive Systems; Bio Engineering Applications; Bio-Mechatronics and Physical Human Robot Interaction; Biomedical and Neural Systems; Biomedical and Neural Systems Modeling, Diagnostics, and Healthcare, V001T09A006, September 30–October 3, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2018-9177
https://doi.org/10.1115/DSCC2018-9177
View Paper titled, Predictively Coordinated Vehicle Acceleration and Lane Selection Using Mixed Integer Programming
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Topics: Integer programming, Vehicles, Collisions (Physics), Traffic, Decision making, Energy efficiency, Fuel consumption, Path planning, Predictive control, Roads