no code implementations • 27 Oct 2021 • Yongqian Xiao
In this paper, the approach based on the Koopman operator named deep direct Koopman (DDK) is proposed to identify the model of the autonomous vehicle and the identified model is a linear time-invariant (LTI) version, which is convenient for motion planning and controller design.
no code implementations • 19 Feb 2021 • Yongqian Xiao, Xin Xu, QianLi Lin
In this paper, a novel Koopman-based deep convolutional network, called CKNet, is proposed to identify latent dynamics from raw pixels.
no code implementations • 5 Jul 2020 • Yongqian Xiao, Xinglong Zhang, Xin Xu, Xueqing Liu, Jiahang Liu
Furthermore, a data-driven model predictive controller with the learned Koopman model is designed for path tracking control of autonomous vehicles.