Related papers: On a three dimensional vision based collision avoi…
With the recent surge of interest in UAVs for civilian services, the importance of developing tractable multi-agent analysis techniques that provide safety and performance guarantees have drastically increased. Hamilton-Jacobi (HJ)…
Cooperative autonomous driving plays a pivotal role in improving road capacity and safety within intelligent transportation systems, particularly through the deployment of autonomous vehicles on urban streets. By enabling vehicle-to-vehicle…
This paper presents a novel approach for learning self-awareness models for autonomous vehicles. The proposed technique is based on the availability of synchronized multi-sensor dynamic data related to different maneuvering tasks performed…
This paper addresses a critical aerial defense challenge in contested airspace, involving three autonomous aerial vehicles -- a hostile drone (the pursuer), a high-value drone (the evader), and a protective drone (the defender). We present…
This paper provides a general framework for efficiently obtaining the appropriate intervention time for collision avoidance systems to just avoid a rear-end crash. The proposed framework incorporates a driver comfort model and a vehicle…
In this paper, we present a framework for performing collaborative localization for groups of micro aerial vehicles (MAV) that use vision based sensing. The vehicles are each assumed to be equipped with a forward-facing monocular camera,…
This paper proposes an adaptive behavioral decision-making method for autonomous vehicles (AVs) focusing on complex merging scenarios. Leveraging principles from non-cooperative game theory, we develop a vehicle interaction behavior model…
Traffic collision avoidance systems (TCAS) are used in order to avoid incidences of mid-air collisions between aircraft. We present a game-theoretic approach of a TCAS designed for autonomous unmanned aerial vehicles (UAVs). A variant of…
Motivated by station-keeping applications in various unmanned settings, this paper introduces a steering control law for a pair of agents operating in the vicinity of a fixed beacon in a three-dimensional environment. This feedback law is a…
Navigation and guidance of autonomous vehicles is a fundamental problem in robotics, which has attracted intensive research in recent decades. This report is mainly concerned with provable collision avoidance of multiple autonomous vehicles…
This paper propose a interactive 3D modeling method and corresponding system based on single or multiple uncalibrated images. The main feature of this method is that, according to the modeling habits of ordinary people, the 3D model of the…
This paper presents a novel approach to automated drifting with a standard passenger vehicle, which involves a Nonlinear Model Predictive Control to stabilise and maintain the vehicle at high sideslip angle conditions. The proposed…
This paper presents an optimisation-based approach for an obstacle avoidance problem within an autonomous vehicle racing context. Our control regime leverages online reachability analysis and sensor data to compute the maximal safe…
This paper deals with the modeling and mathematical analysis of vehicular traffic phenomena according to a kinetic theory approach, where the microscopic state of vehicles is described by: (i) position, (ii) velocity, as a continuous…
This paper describes a framework for multi-robot coordination and motion planning with emphasis on inter-agent interactions. We focus on the characterization of inter-agent interactions with sufficient level of abstraction so as to allow…
In this context, a major focus of this thesis is on unintentional collisions, where a straight goal is to eliminate injury from users and passerby's via realtime sensing and control systems. A less obvious focus is to combine collision…
This paper studies a heterogeneous Unmanned Aerial Vehicles (UAVs) cooperative search approach suitable for complex environments. In the application, a fixed-wing UAV drops rotor UAVs to deploy the cluster rapidly. Meanwhile, the fixed-wing…
World models have gained significant attention as a promising approach for autonomous driving. By emulating human-like perception and decision-making processes, these models can predict and adapt to dynamic environments. Existing methods…
Aerial vehicles are revolutionizing applications that require capturing the 3D structure of dynamic targets in the wild, such as sports, medicine, and entertainment. The core challenges in developing a motion-capture system that operates in…
Vision-based 3D Detection task is fundamental task for the perception of an autonomous driving system, which has peaked interest amongst many researchers and autonomous driving engineers. However achieving a rather good 3D BEV (Bird's Eye…