| Combined Speed and Steering Control in High Speed Autonomous Ground Vehicles for Obstacle Avoidance Using Model Predictive Control J Liu, P Jayakumar, J Stein, T Ersal IEEE Transactions on Vehicular Technology, 2017 | 150 | 2017 |
| A study on model fidelity for model predictive control-based obstacle avoidance in high-speed autonomous ground vehicles J Liu, P Jayakumar, JL Stein, T Ersal Vehicle System Dynamics 54 (11), 1629-1650, 2016 | 104 | 2016 |
| A nonlinear model predictive control formulation for obstacle avoidance in high-speed autonomous ground vehicles in unstructured environments J Liu, P Jayakumar, JL Stein, T Ersal Vehicle System Dynamics 56 (6), 853-882, 2018 | 90 | 2018 |
| Moving Obstacle Avoidance for Large, High-Speed Autonomous Ground Vehicles H Febbo, J Liu, P Jayakumar, JL Stein, T Ersal American Control Conference (ACC), 5568-5573, 2017 | 65 | 2017 |
| A Multi-Stage Optimization Formulation for MPC-Based Obstacle Avoidance in Autonomous Vehicles Using a LIDAR Sensor J Liu, P Jayakumar, JL Stein, T Ersal ASME 2014 Dynamic Systems and Control Conference, V002T30A006-V002T30A006, 2014 | 59 | 2014 |
| The role of model fidelity in model predictive control based hazard avoidance in unmanned ground vehicles using LIDAR sensors J Liu, P Jayakumar, JL Overholt, JL Stein, T Ersal ASME 2013 Dynamic Systems and Control Conference, V003T46A005-V003T46A005, 2013 | 52 | 2013 |
| An MPC Algorithm With Combined Speed and Steering Control for Obstacle Avoidance in Autonomous Ground Vehicles J Liu, P Jayakumar, JL Stein, T Ersal ASME 2015 Dynamic Systems and Control Conference, V003T44A003-V003T44A003, 2015 | 32 | 2015 |
| Vehicle controlling system and method J Liu, T Gordon, R Heft US Patent 8,948,972, 2015 | 24 | 2015 |
| Improving the robustness of an MPC-based obstacle avoidance algorithm to parametric uncertainty using worst-case scenarios J Liu, P Jayakumar, JL Stein, T Ersal Vehicle System Dynamics 57 (6), 874-913, 2019 | 23 | 2019 |
| A Double-Worst-Case Formulation for Improving the Robustness of an MPC-Based Obstacle Avoidance Algorithm to Parametric Uncertainty J Liu, P Jayakumar, JL Stein, T Ersal American Control Conference (ACC), 5562-5567, 2017 | 5 | 2017 |
| High-Speed Obstacle Avoidance at the Dynamic Limits for Autonomous Ground Vehicles J Liu University of Michigan, 2016 | 1 | 2016 |
Tulga ErsalAssociate Professor, University of MichiganVerified email at umich.edu
