Related papers: Optimal Synthesis for Nonholonomic Vehicles With C…
Current pandemic has caused the medical system to operate under high load. To relieve it, robots with high autonomy can be used to effectively execute contactless operations in hospitals and reduce cross-infection between medical staff and…
Path planning for multiple robots is well studied in the AI and robotics communities. For a given discretized environment, robots need to find collision-free paths to a set of specified goal locations. Robots can be fully anonymous,…
The objective of this paper is to propose a systematic analysis of the sensor coverage of automated vehicles. Due to an unlimited number of possible traffic situations, a selection of scenarios to be tested must be applied in the safety…
We study the problem of novel view synthesis of objects from a single image. Existing methods have demonstrated the potential in single-view view synthesis. However, they still fail to recover the fine appearance details, especially in…
Unmanned systems (USs) including unmanned aerial vehicles, unmanned underwater vehicles, and unmanned ground vehicles have great application prospects in military and civil fields, among which the process of finding feasible and optimal…
Constrained Optimization solution algorithms are restricted to point based solutions. In practice, single or multiple objectives must be satisfied, wherein both the objective function and constraints can be non-convex resulting in multiple…
Time-critical tasks such as drone racing typically cover large operation areas. However, it is difficult and computationally intensive for current time-optimal motion planners to accommodate long flight distances since a large yet unknown…
In this paper, we study the optimal control of a mixed-autonomy platoon driving on a single lane to smooth traffic flow. The platoon consists of autonomous vehicles, whose acceleration is controlled, and human-driven vehicles, whose…
Displaced automotive sensor imaging exploits joint processing of the data acquired from multiple radar units, each of which may have limited individual resources, to enhance the localization accuracy. Prior works either consider perfect…
In this paper, we present SROM, a novel real-time Simultaneous Localization and Mapping (SLAM) system for autonomous vehicles. The keynote of the paper showcases SROM's ability to maintain localization at low sampling rates or at high…
Autonomous driving systems rely on accurate perception and localization of the ego car to ensure safety and reliability in challenging real-world driving scenarios. Public datasets play a vital role in benchmarking and guiding advancement…
Localization is a fundamental task in robotics for autonomous navigation. Existing localization methods rely on a single input data modality or train several computational models to process different modalities. This leads to stringent…
Despite the number of works published in recent years, vehicle localization remains an open, challenging problem. While map-based localization and SLAM algorithms are getting better and better, they remain a single point of failure in…
Robust estimation of vehicle sideslip angle is essential for stability control applications. However, the direct measurement of sideslip angle is expensive for production vehicles. This paper presents a novel sideslip estimation algorithm…
Driving on the limits of vehicle dynamics requires predictive planning of future vehicle states. In this work, a search-based motion planning is used to generate suitable reference trajectories of dynamic vehicle states with the goal to…
A common approach to localize a mobile robot is by measuring distances to points of known positions, called anchors. Locating a device from distance measurements is typically posed as a non-convex optimization problem, stemming from the…
The motion control of wheeled mobile robots at high speeds under adverse ground conditions is a difficult task, since the robots' wheels may be subject to different kinds of slip. This work introduces an adaptive kinematic controller that…
When autonomous systems are deployed in real-world scenarios, sensors are often subject to limited field-of-view (FOV) constraints, either naturally through system design, or through unexpected occlusions or sensor failures. In conditions…
Motion prediction of surrounding vehicles is one of the most important tasks handled by a self-driving vehicle, and represents a critical step in the autonomous system necessary to ensure safety for all the involved traffic actors. Recently…
This paper addresses a UAV path planning task that seeks to observe a set of objects while satisfying the observation quality constraint. A dynamic programming algorithm is proposed that enables the UAV to observe the target objects with…