Research

Oskar's research concerns motion planning and path-following control, primary for truck and trailer systems, but also for a wider range of different systems such as drones and ships.

Publications

Under review

O. Ljungqvist, D. Axehill, Pettersson and J. Löfberg
Estimation-aware model predictive path-following control for a general 2-trailer with a car-like tractor
Submitted to IEEE Transactions on Robotics, 2020. Preprint: arXiv

Journal Papers

K. Bergman, O. Ljungqvist and D. Axehill
Improved Path Planning by Tightly Combining Lattice-based Path Planning and Numerical Optimal Control
IEEE Transaction on Intelligent Vehicles, 2020.

O. Ljungqvist, N. Evestedt, D. Axehill, M. Cirillo and H. Pettersson
A path planning and path-following control framework for a general 2-trailer with a car-like tractor
Journal of Field Robotics (JFR), 2019.
Video that presents experimental results: youtu.be/IBA-8wom5zQ

Conference Papers

K. Bergman, O. Ljungqvist, J. Linder and D. Axehill
An Optimization-Based Motion Planner for Autonomous Maneuvering of Marine Vessels in Complex Environments
Accepted to IEEE Conference on Decision and Control (CDC), 2020. Preprint: arXiv

R. Oliveira, O. Ljungqvist, P. F. Lima and B. Wahlberg
A geometric approach to on-road motion planning for long and multi-body heavy-duty vehicles
Accepted to IEEE Intelligent Vehicles Symposium (IV), 2020.

O. Ljungqvist, K. Bergman and D. Axehill
Optimization-based motion planning for multi-steered articulated vehicles
Accepted to IFAC World Congress, 2020. Preprint: arXiv

O. Ljungqvist and D. Axehill
A predictive path-following controller for multi-steered articulated vehicles
Accepted to IFAC World Congress, 2020. Preprint: arXiv

K. Bergman, O. Ljungqvist, D. Axehill and T. Glad
An optimization-based receding horizon trajectory planning algorithm
Accepted to IFAC World Congress, 2020. Preprint: arXiv

R. Oliveira, O. Ljungqvist, P. F. Lima and B. Wahlberg
Optimization-based onroad path planning for articulated vehicles
Accepted to IFAC World Congress, 2020. Preprint: arXiv

O. Ljungqvist, D. Axehill and H. Pettersson
On sensing-aware model predictive path-following control for a reversing general 2-trailer with a car-like tractor
Accepted to IEEE International Conference on Robotics and Automation (ICRA), 2020. Preprint: arXiv

K. Bergman, O. Ljungqvist, and D. Axehill
Improved Optimization of Motion Primitives for Motion Planning in State Lattices
2019 IEEE Intelligent Vehicles Symposium (IV), Paris, June 2019.

O. Andersson, O. Ljungqvist, M. Tiger, D. Axehill and F. Heintz
Receding-Horizon Lattice-based Motion Planning with Dynamic Obstacle Avoidance
57th IEEE Conference on Decision and Control (CDC), Miami, December 2018.

O. Ljungqvist, D. Axehill and J. Löfberg
On stability for state-lattice trajectory tracking control
2018 American Control Conference (ACC), Milwaukee, June 2018.

G. Ling, K. Lindsten, O. Ljungqvist, J. Löfberg, C. Noren and C. Larsson
Fuel-efficient Model Predictive Control for Heavy Duty Vehicle Platooning using Neural Networks
2018 American Control Conference (ACC), Milwaukee, June 2018.

O. Ljungqvist, N. Evestedt, M. Cirillo, D. Axehill and O. Holmer
Lattice-based motion planning for a general 2-trailer system
2017 IEEE Intelligent Vehicles Symposium (IV), Los Angeles, June 2017.

O. Ljungqvist, D. Axehill and A. Helmersson
Path following control for a reversing general 2-trailer system
55th IEEE Conference on Decision and Control (CDC), Las Vegas, December 2016.

N. Evestedt, O. Ljungqvist and D. Axehill
Motion planning for a reversing general 2-trailer configuration using Closed-Loop RRT
2016 IEEE International Conference on Intelligent Robots and Systems (IROS), Daejeon, October 2016.

N. Evestedt, O. Ljungqvist and D. Axehill
Path tracking and stabilization for a reversing general 2-trailer configuration using a cascaded control approach
2016 IEEE Intelligent Vehicles Symposium (IV), Gothenburg, June 2016.

Theses

O. Ljungqvist
Motion planning and feedback control techniques with applications to long tractor-trailer vehicles
Linköping Studies in Science and Technology. Dissertations, No. 2070, 2020.

O. Ljungqvist
On motion planning and control for truck and trailer system
Linköping Studies in Science and Technology. Licentiate's Thesis, No. 1832, 2019.

O. Ljungqvist
Motion planning and stabilization for a reversing truck and trailer system
Master's Thesis, Automatic Control, Linköping University, Linköping, Sweden, 2015.