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Surface electromyography (sEMG) and high-density sEMG (HD-sEMG) biosignals have been extensively investigated for myoelectric control of prosthetic devices, neurorobotics, and more recently human-computer interfaces because of their…
Safety is one of the main challenges that prohibit autonomous vehicles (AV), requiring them to be well tested ahead of being allowed on the road. In comparison with road tests, simulators allow us to validate the AV conveniently and…
Autonomous cars can reduce road traffic accidents and provide a safer mode of transport. However, key technical challenges, such as safe navigation in complex urban environments, need to be addressed before deploying these vehicles on the…
Automated Driving System (ADS) has attracted increasing attention from both industrial and academic communities due to its potential for increasing the safety, mobility and efficiency of existing transportation systems. The state-of-the-art…
During the conceptual and prototype design stage of an industrial product, it is crucial to take assembly/disassembly and maintenance operations in advance. A well-designed system should enable relatively easy access of operating…
Automated vehicles are pictured as the future of transportation, and facilitating safer driving is only one of the many benefits. However, due to the constantly changing role of the human driver, users are easily confused and have little…
This paper presents a unified control framework for robust trajectory tracking and moving obstacle avoidance applicable to a broad class of mobile robots. By formulating a generalized kinematic transformation, we convert diverse vehicle…
Intersection crossing represents one of the most dangerous sections of the road infrastructure and Connected Vehicles (CVs) can serve as a revolutionary solution to the problem. In this work, we present a novel framework that detects…
The sudden appearance of a static obstacle on the road, i.e. the moose test, is a well-known emergency scenario in collision avoidance for automated driving. Model Predictive Control (MPC) has long been employed for planning and control of…
Surface electromyography (sEMG) sensors are widely used in human-computer interaction, yet the failure of a single sensor can compromise system usability. We propose a methodological framework for implementing a fail-safe mechanism in…
With the development of autonomous driving technology, there are increasing demands for vehicle control, and MPC has become a widely researched topic in both industry and academia. Existing MPC control methods based on vehicle kinematics or…
External human-machine interface (eHMI) is considered as a new explicit communication method for pedestrian-AV interactions, particularly in encounter scenarios. Pedestrians without prior negotiation experience with eHMI may misinterpret…
This article addresses the obstacle avoidance problem for setpoint stabilization and path-following tasks in complex dynamic 2D environments that go beyond conventional scenes with isolated convex obstacles. A combined motion planner and…
With the rapid development of autonomous driving, the attention of academia has increasingly focused on the development of anti-collision systems in emergency scenarios, which have a crucial impact on driving safety. While numerous…
Vehicle platooning enables close-gap driving and offers potential benefits for traffic efficiency and safety. In conditionally automated platooning, drivers remain responsible for supervising the system and intervening when necessary,…
In order for autonomous vehicles to become a part of the Intelligent Transportation Ecosystem, they are required to guarantee a particular level of safety. For that to happen a safe vehicle control algorithms need to be developed, which…
In this paper, we propose and evaluate a novel human-machine interface (HMI) for controlling a standing mobility vehicle or person carrier robot, aiming for a hands-free control through upper-body natural postures derived from gaze tracking…
This paper summarizes an autonomous driving project by musculoskeletal humanoids. The musculoskeletal humanoid, which mimics the human body in detail, has redundant sensors and a flexible body structure. These characteristics are suitable…
Wheelchairs and robotic arms enhance independent living by assisting individuals with upper-body and mobility limitations in their activities of daily living (ADLs). Although recent advancements in assistive robotics have focused on…
Safe road-crossing by self-driving vehicles is a crucial problem to address in smart-cities. In this paper, we introduce a multi-sensor fusion approach to support road-crossing decisions in a system composed by an autonomous wheelchair and…