Related papers: Networked and Autonomous Model-scale Vehicles for …
The motion of planar ground vehicles is often non-holonomic, and as a result may be modelled by the 2 DoF Ackermann steering model. We analyse the feasibility of estimating such motion with a downward facing camera that exerts…
Non-holonomic vehicle motion has been studied extensively using physics-based models. Common approaches when using these models interpret the wheel/ground interactions using a linear tire model and thus may not fully capture the nonlinear…
Autonomous vehicles (AVs) must share the driving space with other drivers and often employ conservative motion planning strategies to ensure safety. These conservative strategies can negatively impact AV's performance and significantly slow…
Contrary to on-road autonomous navigation, off-road autonomy is complicated by various factors ranging from sensing challenges to terrain variability. In such a milieu, data-driven approaches have been commonly employed to capture intricate…
The research community has increasing interest in autonomous driving research, despite the resource intensity of obtaining representative real world data. Existing self-driving datasets are limited in the scale and variation of the…
Unmanned ground vehicles operating in complex environments must adaptively adjust to modeling uncertainties and external disturbances to perform tasks such as wall following and obstacle avoidance. This paper introduces an adaptive control…
Autonomous vehicles (AVs) allow new ways of regulating the traffic flow on road networks. Most of available results in this direction are based on microscopic approaches, where ODEs describe the evolution of regular cars and AVs. In this…
Autonomous driving is a challenging task that has gained broad attention from both academia and industry. Current solutions using convolutional neural networks require large amounts of computational resources, leading to high power…
Automated driving applications require accurate vehicle specific models to precisely predict and control the motion dynamics. However, modern vehicles have a wide array of digital and mechatronic components that are difficult to model,…
The Waymo Open Dataset has been released recently, providing a platform to crowdsource some fundamental challenges for automated vehicles (AVs), such as 3D detection and tracking. While~the dataset provides a large amount of high-quality…
Recent breakthroughs in autonomous driving have been propelled by advances in robust world modeling, fundamentally transforming how vehicles interpret dynamic scenes and execute safe decision-making. World models have emerged as a linchpin…
With the recent development of autonomous vehicle technology, there have been active efforts on the deployment of this technology at different scales that include urban and highway driving. While many of the prototypes showcased have been…
Proper path planning is the first step of robust and efficient autonomous navigation for mobile robots. Meanwhile, it is still challenging for robots to work in a complex environment without complete prior information. This paper presents…
The present cross-disciplinary research explores pedestrian-autonomous vehicle interactions in a safe, virtual environment. We first present contemporary tools in the field and then propose the design and development of a new application…
Trajectory prediction and planning are essential for autonomous vehicles to navigate safely and efficiently in dynamic environments. Traditional approaches often treat them separately, limiting the ability for interactive planning. While…
This paper focuses on real-time occupancy mapping and collision checking onboard an autonomous robot navigating in an unknown environment. We propose a new map representation, in which occupied and free space are separated by the decision…
The main objective of this paper is to design and develop an automatic vehicle, fully controlled by a computer system. The vehicle designed in the present work can move in a pre-determined path and work automatically without the need of any…
In this paper, we propose an integrated dynamical model of Connected and Automated Vehicles (CAVs) which incorporates CAV technologies and a microscopic car-following model to improve safety, efficiency and convenience. We rigorously…
Navigating narrow roads with oncoming vehicles is a significant challenge that has garnered considerable public interest. These scenarios often involve sections that cannot accommodate two moving vehicles simultaneously due to the presence…
Perception of the lane boundaries is crucial for the tasks related to autonomous trajectory control. In this paper, several methodologies for lane detection are discussed with an experimental illustration: Hough transformation, Blob…