Related papers: The Colliding Reciprocal Dance Problem: A Mitigati…
This work addresses on the following problem: given a set of unsynchronized history observations of two scenes that are correlative on their dynamic changes, the purpose is to learn a cross-scene predictor, so that with the observation of…
The security issue of mobile robots has attracted considerable attention in recent years. In this paper, we propose an intelligent physical attack to trap mobile robots into a preset position by learning the obstacle-avoidance mechanism…
The safety-critical nature of vehicle steering is one of the main motivations for exploring the space of possible cyber-physical attacks against the steering systems of modern vehicles. This paper investigates the adversarial capabilities…
Cooperative adaptive cruise control(CACC) system provides a great promise to significantly reduce traffic congestion while maintaining a high level of safety. Recent years have seen an increase of using formal methods in the analysis and…
This article presents a multi-robot trajectory planning method which not only guarantees optimization feasibility and but also resolves deadlocks in obstacle-dense environments. The method is proposed via formulating a recursive…
In this paper, we address the challenge of performing non-prehensile pushing operations with a compliant robotic manipulation system. To ensure safe operations in human-populated environments, robots must comply with external physical…
In this paper, we study the longitudinal control problem for a platoon of vehicles with unknown nonlinear dynamics under both the predecessor-following and the bidirectional control architectures. The proposed control protocols are fully…
Recent work on the multi-agent pathfinding problem (MAPF) has begun to study agents with motion that is more complex, for example, with non-unit action durations and kinematic constraints. An important aspect of MAPF is collision detection.…
The imminent integration of autonomous vehicles and mobile robots in urban settings presents a critical safety challenge for future intelligent transportation systems. This paper addresses the complex problem of coordinating heterogeneous…
Jamming, or dynamical arrest, is a transition at which many particles stop moving in a collective manner. In nature it is brought about by, for example, increasing the packing density, changing the interactions between particles, or…
Protest is ubiquitous in the 21st Century and the people who participate in such movements do so because they seek to bring about social change. However, social change takes time and involves repeated interactions between individual…
The non-consensus problems of high order linear time-invariant dynamical homogeneous multi-agent systems are concerned. Based on the conditions of consensus achievement, the mechanisms that lead to non-consensus motions are analyzed.…
In active fluids and active solids the constituents individually generate movement by each extracting energy from their environment or from their own source. Non-reciprocal interactions among these active constituents then enable novel…
In recent years, many control problems of autonomous mobile robots have been developed. In particular, the robots are required to be safe; that is, they need to be controlled to avoid colliding with people or objects while traveling. In…
In an increasingly interconnected world, understanding congestion-related phenomena in transportation and their underlying mechanisms is crucial for improving efficiency. As the transportation system becomes denser, different modes of…
Vehicle-pedestrian interaction (VPI) is one of the most challenging tasks for automated driving systems. The design of driving strategies for such systems usually starts with verifying VPI in simulation. This work proposed an improved…
This paper proposes a method to learn from human demonstration compliant contact motions, which take advantage of interaction forces between workpieces to align them, even when contact force may occur from different directions on different…
Balancing safety and efficiency when planning in dense traffic is challenging. Interactive behavior planners incorporate prediction uncertainty and interactivity inherent to these traffic situations. Yet, their use of single-objective…
We conducted numerical simulation for a crowd of pedestrians. Each pedestrian, modeled with three circles, has a shape whose long axis is perpendicular to the anteroposterior axis, and is designed to move fixed destination. The pedestrians…
We propose a hybrid approach for decentralized multi-robot navigation that ensures both safety and deadlock prevention. Building on a standard control formulation, we add a lightweight deadlock prevention mechanism by forming temporary…