Autonomous navigation & control
Autonomous navigation & control
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For autonomous navigation in unstructured environments, we are developing i) learning-aided controls and hybrid modeling, ii) distributed learning frameworks, and iii) statistical models for semantic mapping and static scene segmentation. These solutions are designed for real-time onboard applications in logistics and intelligent transportation, targeting connected robots, autonomous mobile agents, and automated driving systems. Additionally, NODE Lab is working on safe and computationally efficient architectures for distributed motion planning, optimization, and navigation of multiple robots in highly dynamic environments, leveraging distributed sensor networks (DSNs).
Related publications
Related publications
Hao Zheng, Yinong Li, Ling Zheng, Ehsan Hashemi
Koopman-Based Hybrid Modeling and Zonotopic Tube Robust MPC for Motion Control of Automated Vehicles
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Yu Zhang, Yuxuan Hu, Xuepeng Hu, Yechen Qin, Zhenfeng Wang, Mingming Dong, Ehsan Hashemi
Adaptive Crash-Avoidance Predictive Control Under Multi-Vehicle Dynamic Environment for Intelligent Vehicles
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Integrated Path-Tracking and Combined-Slip Force Controls of Autonomous Ground Vehicles with Safe Constraints Adaptation
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Safe Motion Planning and Control Framework for Automated Vehicles with Zonotopic TRMPC
Engineering
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Ehsan Hashemi
Integrated Combined-Slip based Vehicle and Wheel Dynamic Control for Electric Vehicles
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Zhewei Zhu, Xiaolin Tang, Yechen Qin, Yiwei Huang, Ehsan Hashemi
A survey of lateral stability criterion and control application for autonomous vehicles
IEEE Transactions on Intelligent Transportation Systems
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Interaction-aware merging in mixed traffic with integrated game-theoretic predictive control and inverse differential game
2023 IEEE Intelligent Vehicles Symposium (IV)
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Neel P Bhatt, Amir Khajepour, Ehsan Hashemi
MPC-PF: socially and spatially aware object trajectory prediction for autonomous driving systems using potential fields
IEEE Transactions on Intelligent Transportation Systems
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Yu Zhang, Yutian Lin, Yechen Qin, Mingming Dong, Li Gao, Ehsan Hashemi
A new adaptive cruise control considering crash avoidance for intelligent vehicle
IEEE Transactions on Industrial Electronics
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Yu Zhang, Mingfan Xu, Yechen Qin, Mingming Dong, Li Gao, Ehsan Hashemi
MILE: Multiobjective integrated model predictive adaptive cruise control for intelligent vehicle
IEEE Transactions on Industrial Informatics
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Neel P Bhatt, Amir Khajepour, Ehsan Hashemi
MPC-PF: social interaction aware trajectory prediction of dynamic objects for autonomous driving using potential fields
2022 IEEE/RSJ IROS
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Ehsan Hashemi, Xingkang He, Karl H Johansson
Robust slip-aware fusion for mobile robots state estimation
IEEE Robotics and Automation Letters
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Xin Xia, Ehsan Hashemi, Lu Xiong, Amir Khajepour
Autonomous vehicle kinematics and dynamics synthesis for sideslip angle estimation based on consensus Kalman filter
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