Obstacle avoidance in real time with Nonlinear Model Predictive Control of autonomous vehicles, 2014 IEEE 27th Canadian Conference on Electrical and Computer Engineering, vol.40, p.65, 2014. ,
High-speed trajectory planning for autonomous vehicles using a simple dynamic model, Proc. of the Intelligent Transportation Systems Conference, vol.60, p.66, 2017. ,
PID Controllers: Theory, Design, and Tuning, vol.77, p.118, 1995. ,
Coupled longitudinal and lateral control strategy improving lateral stability for autonomous vehicle, American Control Conference (ACC), p.116, 2012. ,
URL : https://hal.archives-ouvertes.fr/hal-00717469
Longitudinal control for automated vehicle guidance, IFAC, vol.45, p.93, 2012. ,
URL : https://hal.archives-ouvertes.fr/hal-00747351
Estimation of vehicle sideslip, tire force and wheel cornering stiffness, Control Engineering Practice, vol.17, issue.11, 2009. ,
URL : https://hal.archives-ouvertes.fr/hal-00849265
Model-free load control for high penetration of solar photovoltaic generation, North American Power Symposium (NAPS), p.118, 2017. ,
URL : https://hal.archives-ouvertes.fr/hal-01558647
A random sampling scheme for path planning, Robotics Research, p.50, 1996. ,
The combinatorial aspect of motion planning: Maneuver variants in structured environments, 2015 IEEE Intelligent Vehicles Symposium (IV), number IV, vol.87, p.139, 2015. ,
Path planning and integrated collision avoidance for autonomous vehicles, 2017 American Control Conference (ACC), p.65, 2017. ,
Autonomous vehicle steering using explicit LPV-MPC, European Control Conference (ECC), issue.1, p.60, 2009. ,
Multiple Lyapunov functions and other analysis tools for switched and hybrid systems, IEEE Transactions on Automatic Control, vol.43, issue.4, pp.475-482, 1998. ,
The Second Machine Age: Work, Progress, and Prosperity in a Time of Brilliant Technologies, vol.6, p.54, 2014. ,
Fahrwerktechnik: Radschlupf-regelsysteme, p.36, 1993. ,
Past, Present, and Future of Simultaneous Localization and Mapping: Toward the Robust-Perception Age, IEEE Transactions on Robotics, vol.32, issue.6, 2016. ,
Observers for tire/road contact friction using only wheel angular velocity information, Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304), vol.4, p.35, 1988. ,
A new model for control of systems with friction, IEEE Transactions on Automatic Control, vol.40, issue.3, pp.419-425, 1995. ,
Dynamic tire friction models for vehicle traction control, Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304), vol.4, p.35, 1999. ,
URL : https://hal.archives-ouvertes.fr/hal-00949740
Dynamic Friction Models for Road/Tire Longitudinal Interaction. Vehicle System Dynamics, vol.39, pp.189-226, 2003. ,
URL : https://hal.archives-ouvertes.fr/hal-00734006
H/sub/spl infin//, adaptive, pid and fuzzy control: a comparison of controllers for vehicle lane keeping, Intelligent Vehicles Symposium, p.95, 2004. ,
Non-linear model-free control of flapping wing flying robot using iPID, 2016 IEEE International Conference on Robotics and Automation (ICRA), vol.2016, p.118, 2016. ,
Model-free control of automotive engine and brake for stop-and-go scenarios, Control Conference (ECC), p.127, 2009. ,
URL : https://hal.archives-ouvertes.fr/inria-00395393
Implementation of the Pure Pursuit Path Tracking Algorithm, vol.64, p.97, 1992. ,
, Society for Industrial and Applied Mathematics, vol.I, p.121, 2008.
, A mathematical explanation via "intelligent" PID controllers of the strange ubiquity of PIDs, troduction à la Commande Non Linéaire des Sysèmes Dynamiques. Applications à la Robotique. XI [d'Andréa-Novel, vol.49, pp.199-204, 1995.
A revised look at intelligent-pid model free control, vol.134, p.136, 2019. ,
Coupled Longitudinal and Lateral Control of a Vehicle using Deep Learning, 21st International IEEE Conference on Intelligent Transportation Systems (ITSC) (accepted), vol.87, p.139, 2018. ,
URL : https://hal.archives-ouvertes.fr/hal-01909081
A note on two problems in connexion with graphs, Numerische Mathematik, vol.1, issue.1, pp.269-271, 1959. ,
A Two-Level Model of Driver Steering Behavior, Human Factors, vol.20, issue.6, pp.691-707, 1978. ,
A family of embedded RungeKutta formulae, Journal of Computational and Applied Mathematics, vol.6, issue.1, pp.19-26, 1980. ,
Model-free control for unknown delayed systems, 3rd Conf. on Control and Fault-Tolerant Systems, p.136, 2016. ,
URL : https://hal.archives-ouvertes.fr/hal-01369776
On Curves of Minimal Length with a Constraint on Average Curvature, and with Prescribed Initial and Terminal Positions and Tangents, American Journal of Mathematics, vol.79, issue.3, 1957. ,
Tire perfomance characteristics affecting vehicle response to steering and braking control inputs, vol.460, p.34, 1969. ,
The Grand Cooperative Driving Challenge 2016: boosting the introduction of cooperative automated vehicles, vol.23, pp.146-152, 2016. ,
A Review of Proper Modeling Techniques, Journal of Dynamic Systems, Measurement, and Control, vol.130, issue.6, p.66, 2008. ,
Predictive Active Steering Control for Autonomous Vehicle Systems, IEEE Transactions on Control Systems Technology, vol.15, issue.3, p.66, 2007. ,
Predictive active steering control for autonomous vehicle systems, IEEE Transactions on control systems technology, vol.15, issue.3, p.116, 2007. ,
Seitenkrafte am rollenden luftreifen'z. vdi bd, 16th Mediterranean Conference on Control and Automation, vol.96, p.119, 1954. ,
Model-free Control and Intelligent PID Controllers: Towards a Possible Trivialization of Nonlinear Control?, IFAC Proceedings Volumes, vol.42, 2009. ,
URL : https://hal.archives-ouvertes.fr/inria-00372325
Model-free control, International Journal of Control, vol.86, issue.12, p.135, 2013. ,
URL : https://hal.archives-ouvertes.fr/hal-00828135
Flatness and defect of non-linear systems: introductory theory and examples, International Journal of Control, vol.61, issue.6, pp.1327-1361, 1995. ,
An algebraic framework for linear identification. ESAIM: Control, Optimisation and Calculus of Variations, vol.9, pp.151-168, 2003. ,
Collision Avoidance and Stabilization for Autonomous Vehicles in Emergency Scenarios, IEEE Transactions on Control Systems Technology, vol.25, issue.4, pp.1204-1216, 2017. ,
Up to the limits: Autonomous Audi TTS, 2012 IEEE Intelligent Vehicles Symposium, p.59, 2012. ,
A tube-based robust nonlinear predictive control approach to semiautonomous ground vehicles, Vehicle System Dynamics, vol.52, issue.6, 2014. ,
Predictive Control of Autonomous Ground Vehicles With Obstacle Avoidance on Slippery Roads, ASME Dynamic Systems and Control Conference, vol.1, p.66, 2010. ,
Fundamentals of Vehicle Dynamics. Society of Automotive Engineers, p.20, 1997. ,
Simultaneous stabilization and tracking of basic automobile drifting trajectories, 2016 IEEE Intelligent Vehicles Symposium (IV), number Iv, vol.37, p.116, 2016. ,
A Review of Motion Planning Techniques for Automated Vehicles, IEEE Transactions on Intelligent Transportation Systems, vol.17, issue.4, pp.1135-1145, 2016. ,
URL : https://hal.archives-ouvertes.fr/hal-01397924
Predictive control for agile semi-autonomous ground vehicles using motion primitives, American Control Conference (ACC), vol.60, p.66, 2012. ,
Priority-based coordination of robots, p.139, 2014. ,
URL : https://hal.archives-ouvertes.fr/hal-00828976
A friction circle concept for dugoff's tyre friction model, International Journal of Vehicle Design, vol.1, issue.4, pp.373-377, 1980. ,
An experimental study on lateral control of a vehicle, American Control Conference, p.94, 1991. ,
Fuzzy logic control for lateral vehicle guidance, IEEE control systems, vol.14, issue.4, pp.55-63, 1994. ,
Linear parameter varying controller for automated lane guidance: experimental study on tractor-trailers, Journal of Dynamic Systems, Measurement, and Control, vol.136, issue.5, pp.793-806, 2002. ,
Experimental evaluation of a chatter free sliding mode control for lateral control in ahs, American Control Conference, vol.5, p.94, 1997. ,
ACADO Toolkit -An Open Source Framework for Automatic Control and Dynamic Optimization, Optimal Control Applications and Methods, vol.32, issue.3, p.76, 2011. ,
An auto-generated realtime iteration algorithm for nonlinear mpc in the microsecond range, Automatica, vol.47, issue.10, pp.2279-2285, 2011. ,
Obstacle avoidance of autonomous vehicles with CQP-based model predictive control, 2016 IEEE International Conference on Systems, Man, and Cybernetics (SMC), vol.223, p.65, 2016. ,
Collision detection algorithms for motion planning, Robot Motion Planning and Control, p.53, 1998. ,
Intelligent" controllers on cheap and small programmable devices, 2013 Conference on Control and Fault-Tolerant Systems (SysTol), p.118, 2013. ,
DOI : 10.1109/systol.2013.6693811
URL : https://hal.archives-ouvertes.fr/hal-00845795
Etude préliminaire d ' une commande sans modèle pour papillon de moteur, p.127, 2008. ,
DOI : 10.3166/jesa.42.337-354
New results in linear filtering and prediction theory, Journal of basic engineering, vol.83, issue.1, pp.95-108, 1961. ,
DOI : 10.1115/1.3658902
URL : http://fluidsengineering.asmedigitalcollection.asme.org/data/journals/jfega4/27228/95_1.pdf
Real-time motion planning methods for autonomous on-road driving: State-of-the-art and future research directions, Transportation Research Part C: Emerging Technologies, vol.60, pp.416-442, 2015. ,
Probabilistic roadmaps for path planning in high-dimensional configuration spaces, IEEE Transactions on Robotics and Automation, vol.12, issue.4, 1996. ,
DOI : 10.1109/70.508439
URL : https://dspace.library.uu.nl/bitstream/1874/17328/1/kavraki_94_probabilistic.pdf
Predictive energy management for hybrid vehicle, Control Engineering Practice, vol.20, issue.4, 2012. ,
DOI : 10.1016/j.conengprac.2011.12.001
URL : https://hal.archives-ouvertes.fr/hal-00877628
Real-time obstacle avoidance for manipulators and mobile robots, Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol.2, pp.500-505, 1986. ,
A historical review on lateral and longitudinal control of autonomous vehicle motions, Mechanical and Electrical Technology (ICMET), 2010 2nd International Conference on, p.92, 2010. ,
DOI : 10.1109/icmet.2010.5598396
, Automotive Control Systems, vol.38, p.36, 2005.
Singular perturbation methods in control: analysis and design, 1999. ,
Kinematic and Dynamic Vehicle Models for Autonomous Driving Control Design, IEEE Intelligent Vehicles Symposium, p.67, 2015. ,
Polynomial solvability of the convex quadratic programming, Doklady Akademii Nauk SSSR, vol.248, issue.5, 1979. ,
Autonomous vehicle control at the limits of handling, International Journal of Vehicle Autonomous Systems, vol.10, issue.4, p.116, 2012. ,
Motion planning for urban driving using RRT, IEEE/RSJ International Conference on Intelligent Robots and Systems, p.58, 2008. ,
Robot motion plannig, vol.53, p.48, 2013. ,
A motion planner for nonholonomic mobile robots, IEEE Transactions on Robotics and Automation, vol.10, issue.5, pp.577-593, 1994. ,
Le siècle de la voiture intelligente. Collection mathéma-tiques & informatique, Robot Motion Planning and Control, vol.229, pp.1-53, 1998. ,
Planning Algorithms. Cambridge, pp.842-890, 2006. ,
URL : https://hal.archives-ouvertes.fr/hal-01993243
Randomized Kinodynamic Planning, The International Journal of Robotics Research, vol.20, issue.5, 2001. ,
Thèse Contribution à la modélisation et à la commande de robots mobiles en présence de glissement, p.100, 2005. ,
Mixed kinematic and dynamic sideslip angle observer for accurate control of fast off-road mobile robots, Journal of Field Robotics, vol.27, issue.2, pp.181-196, 2010. ,
DOI : 10.1002/rob.20319
URL : https://hal.archives-ouvertes.fr/hal-00523387
Development of a new integrated local trajectory planning and tracking control framework for autonomous ground vehicles, Mechanical Systems and Signal Processing, vol.87, pp.118-137, 2017. ,
Optimal adaptive cruise control with guaranteed string stability, Vehicle System Dynamics, vol.32, issue.4-5, 1999. ,
DOI : 10.1076/vesd.32.4.313.2083
URL : http://www-personal.engin.umich.edu/~hpeng/VSD_1999_Liang.pdf
Optimization-based autonomous racing of 1:43 scale RC cars, Optimal Control Applications and Methods, vol.36, issue.5, pp.628-647, 2015. ,
DOI : 10.1002/oca.2123
URL : http://arxiv.org/pdf/1711.07300
The Role of Model Fidelity in Model Predictive Control Based Hazard Avoidance in Unmanned Ground Vehicles Using LIDAR Sensors, ASME 2013 Dynamic Systems and Control Conference, p.67, 2013. ,
Spatial Planning: A Configuration Space Approach, IEEE Transactions on automatic control, vol.32, issue.2, pp.596-602, 1971. ,
A Safe Longitudinal Control for Adaptive Cruise Control and Stop-and-Go Scenarios, IEEE Transactions on Control Systems Technology, vol.15, issue.2, pp.246-258, 2007. ,
DOI : 10.1109/tcst.2006.886432
URL : https://hal.archives-ouvertes.fr/hal-00123091
Algebraic nonlinear estimation and flatness-based lateral/longitudinal control for automotive vehicles, 14th International IEEE Conference on Intelligent Transportation Systems (ITSC), number Umr 8506, p.116, 2011. ,
DOI : 10.1109/itsc.2011.6083044
URL : https://hal.archives-ouvertes.fr/hal-00611950
A new model-free design for vehicle control and its validation through an advanced simulation platform, vol.127, p.134, 2015. ,
URL : https://hal.archives-ouvertes.fr/hal-01134599
Multivariable decoupled longitudinal and lateral vehicle control: A model-free design, 52nd IEEE Conference on Decision and Control, vol.127, p.134, 2013. ,
DOI : 10.1109/cdc.2013.6760313
URL : https://hal.archives-ouvertes.fr/hal-00859444
Two degrees of freedom PID multi-controllers to design a mathematical driver model: experimental validation and robustness tests, Vehicle System Dynamics, vol.49, issue.4, p.97, 2011. ,
DOI : 10.1080/00423111003639824
URL : https://hal.archives-ouvertes.fr/hal-00850896
Comparing Fuzzy and Intelligent PI Controllers in Stop-and-Go Manoeuvres, IEEE Transactions on Control Systems Technology, vol.20, issue.3, p.128, 2012. ,
Directional stability of automatically steered bodies, vol.34, pp.280-309, 1922. ,
Predictive cruise control with autonomous overtaking, 54th IEEE Conference on Decision and Control (CDC), p.41, 2015. ,
DOI : 10.1109/cdc.2015.7402302
URL : http://publications.lib.chalmers.se/records/fulltext/230890/local_230890.pdf
Introduction to AI Robotics, p.11, 2000. ,
Lateral adaptive control for vehicle lane keeping, American Control Conference, vol.3, p.95, 2004. ,
DOI : 10.23919/acc.2004.1383872
Longitudinal and lateral control for automated lane change maneuvers, 2015 American Control Conference (ACC), p.65, 2015. ,
DOI : 10.1109/acc.2015.7170929
Receding horizon maneuver generation for automated highway driving, vol.41, p.41, 2015. ,
DOI : 10.1016/j.conengprac.2015.04.006
Tyre and Vehicle Dynamics, Butterworth-Heinemann, vol.29, p.82, 2002. ,
Magic Formula Tyre Model with Transient Properties, Vehicle System Dynamics, vol.27, issue.sup001, pp.234-249, 1997. ,
A Survey of Motion Planning and Control Techniques for Self-Driving Urban Vehicles, IEEE Transactions on Intelligent Vehicles, vol.1, issue.1, pp.33-55, 2016. ,
Obstacle avoidance of autonomous vehicles based on model predictive control, Proceedings of the Institution of Mechanical Engineers, vol.223, p.67, 2009. ,
Rubber friction on wet and dry road surfaces: The sealing effect, Phys. Rev. B, vol.71, p.84, 2005. ,
Formal Basis for the Heuristic Determination of Minimum Cost Paths, Systems Science and Cybernetics, vol.50, issue.2, pp.100-107, 1968. ,
Introduction to the Special Issue on the 2011 Grand Cooperative Driving Challenge, IEEE Transactions on Intelligent Transportation Systems, vol.13, issue.3, pp.989-993, 2012. ,
Finite-Time Stabilization of Longitudinal Control for Autonomous Vehicles via a ModelFree Approach, IFAC-PapersOnLine, vol.50, issue.1, pp.12533-12538, 2017. ,
URL : https://hal.archives-ouvertes.fr/hal-01498358
Optimal trajectory planning for autonomous driving integrating logical constraints: An MIQP perspective, 2016 IEEE 19th International Conference on Intelligent Transportation Systems (ITSC), vol.65, p.66, 2016. ,
URL : https://hal.archives-ouvertes.fr/hal-01342358
Autonomous intersection management systems: criteria, implementation and evaluation, IET Intelligent Transport Systems, vol.11, issue.3, pp.182-189, 2017. ,
Optimal paths for a car that goes both forwards and backwards, Pacific Journal of Mathematics, vol.20, issue.2, pp.367-393, 1990. ,
An experimental evaluation of collision detection packages for robot motion planning, IEEE/RSJ International Conference on Intelligent Robots and System, vol.3, p.53, 1990. ,
Complexity of the mover's problem and generalizations, Proceedings of the 20th Annual Symposium on Foundations of Computer Science, p.49, 1979. ,
International Automotive Engineering Congress and Exposition, p.59, 1973. ,
Autonomous Vehicle Control: A Nonconvex Approach for Obstacle Avoidance, IEEE Transactions on Control Systems Technology, vol.25, issue.2, pp.469-484, 2017. ,
Time-varying Feedback Stabilization of Car-like Wheeled Mobile Robots, The International Journal of Robotics Research, vol.12, issue.1, pp.55-64, 1993. ,
Control of chained systems application to path following and time-varying point-stabilization of mobile robots, IEEE Transactions on Automatic Control, vol.40, issue.1, 1995. ,
Ensuring drivability of planned motions using formal methods, Proc. of the Intelligent Transportation Systems Conference, vol.46, p.66, 1901. ,
On the piano movers problem i: The case of a two-dimensional rigid polygonal body moving amidst polygonal barriers, department of computer science, p.48, 1981. ,
On the "piano movers" problem. II. General techniques for computing topological properties of real algebraic manifolds, Advances in Applied Mathematics, vol.4, issue.3, pp.298-351, 1983. ,
A Mathematical Model for Driver Steering Control , with Design, Tuning and Performance results. Vehicle System Dynamics, vol.33, p.96, 2000. ,
Model predictive path following control with acceleration constraints for front steering vehicles, 2016 IEEE 14th International Workshop on Advanced Motion Control (AMC), p.94, 2016. ,
PATH at 20 -History and Major Milestones, IEEE Intelligent Transportation Systems Conference, pp.1-22, 2006. ,
Automatic steering methods for autonomous automobile path tracking, vol.95, p.98, 2009. ,
Lateral control strategy for autonomous steering of ackermanlike vehicles, Robotics and Autonomous Systems, vol.45, issue.3-4, pp.223-233, 2003. ,
Lie brackets, real analyticity and geometric control, differential geometric control theory, IEEE Transactions on Vehicular Technology, vol.50, issue.1, pp.150-161, 1982. ,
Immersion and Invariance Control for Lateral Dynamics of Autonomous Vehicles , with Experimental Validation To cite this version : Immersion and Invariance Control for Lateral Dynamics of Autonomous Vehicles , with Experimental Validation, IEEE Intelligent Vehicles Symposium, p.94, 2013. ,
A Decision Method for Elementary Algebra and Geometry, p.49, 1951. ,
, TASS International, vol.77, p.139
Toward autonomous driving: the cmu navlab. i. perception, IEEE expert, vol.6, issue.4, pp.31-42, 1991. ,
Toward autonomous driving: the cmu navlab. ii. architecture and systems, IEEE expert, vol.6, issue.4, pp.44-52, 1991. ,
Stanley: The robot that won the darpa grand challenge: Research articles, J. Robot. Syst, vol.23, issue.9, p.98, 2006. ,
Accurate automatic guidance of an urban electric vehicle relying on a kinematic gps sensor, IFAC Proceedings Volumes, vol.37, pp.155-160, 2004. ,
Model-free control techniques for Stop & Go systems. Intelligent Transportation Systems (ITSC), 13th International IEEE Conference on, vol.127, pp.1899-1904, 2010. ,
Analysis of tire-road contact under winter conditions, Proceedings of the World Congress on Engineering, vol.3, 2011. ,
Event driven intelligent PID controllers with applications to motion control, IFAC, vol.18, p.127, 2011. ,
URL : https://hal.archives-ouvertes.fr/hal-00832014
Lateral control of autonomous vehicles based on fuzzy logic, Control Engineering Practice, vol.34, pp.1-17, 2015. ,
Predictive ADAS: A predictive trajectory guidance scheme for advanced driver assistance in public traffic, European Control Conference (ECC), p.98, 2015. ,
Aggressive driving with model predictive path integral control, 2016 IEEE International Conference on Robotics and Automation (ICRA), p.57, 2016. ,
Lateral guidance of an autonomous vehicle by a fuzzy logic controller, Systems, Man, and Cybernetics, vol.2, p.94, 1984. ,
A non-conservatively defensive strategy for urban autonomous driving, 2016 IEEE 19th International Conference on Intelligent Transportation Systems (ITSC), vol.59, p.66, 2016. ,
Vehicle Lateral Stability Control Based on Sliding Mode Control *, Proceedings of the IEEE International Conference on Automation and Logistics, vol.94, pp.638-642, 2007. ,
Trajectory planning for Bertha -a local, continuous method, 2014 IEEE Intelligent Vehicles Symposium Proceedings, vol.104, pp.450-457, 2014. ,
Making Bertha Drive -An Autonomous Journey on a Historic Route, IEEE Intelligent Transportation Systems Magazine, vol.6, issue.2, p.66, 2014. ,
Optimum Settings for Automatic Controllers, Journal of Dynamic Systems, Measurement, and Control, vol.115, 1993. ,