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Tensegrity structures are becoming widely used in robotics, such as continuously bending soft manipulators and mobile robots to explore unknown and uneven environments dynamically. Estimating their shape, which is the foundation of their…
We present a novel method for testing the safety of self-driving vehicles in simulation. We propose an alternative to sensor simulation, as sensor simulation is expensive and has large domain gaps. Instead, we directly simulate the outputs…
While visual localization or SLAM has witnessed great progress in past decades, when deploying it on a mobile robot in practice, few works have explicitly considered the kinematic (or dynamic) constraints of the real robotic system when…
It is well understood that in ADAS applications, a good estimate of the pose of the vehicle is required. This paper proposes a metaphorically named 2.5D odometry, whereby the planar odometry derived from the yaw rate sensor and four wheel…
Accurate vehicle trajectory prediction is essential for ensuring safety and efficiency in fully autonomous driving systems. While existing methods primarily focus on modeling observed motion patterns and interactions with other vehicles,…
The variable-height inverted pendulum (VHIP) model enables a new balancing strategy by height variations of the center of mass, in addition to the well-known ankle strategy. We propose a biped stabilizer based on linear feedback of the VHIP…
Modern on-road navigation systems heavily depend on integrating speed measurements with inertial navigation systems (INS) and global navigation satellite systems (GNSS). Telemetry-based applications typically source speed data from the…
This article examines a symbolic numerical approach to optimize a vehicle's track for autonomous driving and collision avoidance. The new approach uses the classical cost function definition incorporating the essential aspects of the…
Intelligent Transportation Systems (ITS) have a pressing need for efficient and reliable traffic surveillance solutions. This paper for the first time proposes a surveillance system that utilizes low-cost magnetic sensors for detecting and…
Accurate extrinsic sensor calibration is essential for both autonomous vehicles and robots. Traditionally this is an involved process requiring calibration targets, known fiducial markers and is generally performed in a lab. Moreover, even…
Accurate real-time wind vector estimation is essential for enhancing the safety, navigation accuracy, and energy efficiency of unmanned aerial vehicles (UAVs). Traditional approaches rely on external sensors or simplify vehicle dynamics,…
Complete perception of the environment and its correct interpretation is crucial for autonomous vehicles. Object perception is the main component of automotive surround sensing. Various metrics already exist for the evaluation of object…
This paper presents a robust non-linear state estimator for autonomous surface vehicles, where the movement is restricted to the horizontal plane. It is assumed that only the vehicle position and orientation can be measured, being the…
The design of the path-following controller is crucial for reliable autonomous vehicle operation. This design problem is especially challenging for a general 2-trailer with a car-like tractor due to the vehicle's unstable joint-angle…
We propose an automatic method for pose and motion estimation against a ground surface for a ground-moving robot-mounted monocular camera. The framework adopts a semi-dense approach that benefits from both a feature-based method and an…
The main aim of this work is the development of a vision-based road detection system fast enough to cope with the difficult real-time constraints imposed by moving vehicle applications. The hardware platform, a special-purpose massively…
A novel algorithm is presented for the estimation of collision probabilities between dynamic objects with uncertain trajectories, where the trajectories are given as a sequence of poses with Gaussian distributions. We propose an adaptive…
Robotic manipulation in industrial scenarios such as construction commonly faces uncertain observations in which the state of the manipulating object may not be accurately captured due to occlusions and partial observables. For example,…
Modeling perception sensors is key for simulation based testing of automated driving functions. Beyond weather conditions themselves, sensors are also subjected to object dependent environmental influences like tire spray caused by vehicles…
This paper presents the modeling of autonomous vehicles with high maneuverability used in an experimental framework for educational purposes. Since standard bicycle models typically neglect wide steering angles, we develop modified planar…