Related papers: On Infusing Reachability-Based Safety Assurance wi…
The growing need for high-performance controllers in safety-critical applications like autonomous driving has been motivating the development of formal safety verification techniques. In this paper, we design and implement a predictive…
Unsignalized intersection driving is challenging for automated vehicles. For safe and efficient performances, the diverse and dynamic behaviors of interacting vehicles should be considered. Based on a game-theoretic framework, a human-like…
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…
Motion planning for autonomous vehicles sharing the road with human drivers remains challenging. The difficulty arises from three challenging aspects: human drivers are 1) multi-modal, 2) interacting with the autonomous vehicle, and 3)…
Trajectory prediction is one of the key components of the autonomous driving software stack. Accurate prediction for the future movement of surrounding traffic participants is an important prerequisite for ensuring the driving efficiency…
Interactive decision-making is essential in applications such as autonomous driving, where the agent must infer the behavior of nearby human drivers while planning in real-time. Traditional predict-then-act frameworks are often insufficient…
In this work we seek for an approach to integrate safety in the learning process that relies on a partly known state-space model of the system and regards the unknown dynamics as an additive bounded disturbance. We introduce a framework for…
Motion Planning under uncertainty is critical for safe self-driving. In this paper, we propose a unified obstacle avoidance framework that deals with 1) uncertainty in ego-vehicle motion; and 2) prediction uncertainty of dynamic obstacles…
Manoeuvring in the presence of emergency vehicles is still a major issue for vehicle autonomy systems. Most studies that address this topic are based on rule-based methods, which cannot cover all possible scenarios that can take place in…
A significant barrier to deploying autonomous vehicles (AVs) on a massive scale is safety assurance. Several technical challenges arise due to the uncertain environment in which AVs operate such as road and weather conditions, errors in…
Ensuring the functional safety of Autonomous Vehicles (AVs) requires motion planning modules that not only operate within strict real-time constraints but also maintain controllability in case of system faults. Existing safeguarding…
Autonomous driving is a multi-agent setting where the host vehicle must apply sophisticated negotiation skills with other road users when overtaking, giving way, merging, taking left and right turns and while pushing ahead in unstructured…
As more and more autonomous vehicles (AVs) are being deployed on public roads, designing socially compatible behaviors for them is becoming increasingly important. In order to generate safe and efficient actions, AVs need to not only…
This paper proposes collision-free optimal trajectory planning for autonomous vehicles in highway traffic, where vehicles need to deal with the interaction among each other. To address this issue, a novel optimal control framework is…
A major challenge for autonomous vehicles is interacting with other traffic participants safely and smoothly. A promising approach to handle such traffic interactions is equipping autonomous vehicles with interaction-aware controllers…
Unlike human beings that can employ the entire surface of their limbs as a means to establish contact with their environment, robots are typically programmed to interact with their environments via their end-effectors, in a collision-free…
This paper presents the development of a tangible platform for demonstrating the practical implementation of cooperative adaptive cruise control (CACC) systems, an enhancement to the standard adaptive cruise control (ACC) concept by means…
Autonomous vehicles need to accomplish their tasks while interacting with human drivers in traffic. It is thus crucial to equip autonomous vehicles with artificial reasoning to better comprehend the intentions of the surrounding traffic,…
An important question for the practical applicability of the highly efficient traffic intersection control is about the minimal level of intelligence the vehicles need to have so as to move beyond the traffic light control. We propose an…
In recent years, car makers and tech companies have been racing towards self driving cars. It seems that the main parameter in this race is who will have the first car on the road. The goal of this paper is to add to the equation two…