Related papers: Introducing MISS, a new tool for collision avoidan…
This paper proposes vehicle motion planning methods with obstacle avoidance in tight spaces by incorporating polygonal approximations of both the vehicle and obstacles into a model predictive control (MPC) framework. Representing these…
The next generation of Mars rotorcrafts requires on-board autonomous hazard avoidance landing. To this end, this work proposes a system that performs continuous multi-resolution height map reconstruction and safe landing spot detection.…
We propose factor graph optimization for simultaneous planning, control, and trajectory estimation for collision-free navigation of autonomous systems in environments with moving objects. The proposed online probabilistic motion planning…
The reconfigurable intelligent surfaces detection and identification (RISs-ID) is a critical process that enables a base station (BS) to adaptively assign the appropriate RIS to a given user equipment (UE). This work proposes a novel…
Ensuring safe and efficient operation of collaborative robots in human environments is challenging, especially in dynamic settings where both obstacle motion and tasks change over time. Current robot controllers typically assume full…
Reconfigurable intelligent surfaces enhance wireless systems by reshaping propagation environments. However, dynamic metasurfaces (MSs) with numerous phase-shift elements incur undesired control and hardware costs. In contrast, static MSs…
Reconfigurable intelligent surface (RIS) is a newly-emerged technology that, with its unique features, is considered to be a game changer for future wireless networks. Channel estimation is one of the most critical challenges for the…
This paper provides a general framework for efficiently obtaining the appropriate intervention time for collision avoidance systems to just avoid a rear-end crash. The proposed framework incorporates a driver comfort model and a vehicle…
Satellite conjunctions involving "near misses" of space objects are becoming increasingly likely. One approach to risk analysis for them involves the computation of the collision probability, but this has been regarded as having some…
As robots are being increasingly used in close proximity to humans and objects, it is imperative that robots operate safely and efficiently under real-world conditions. Yet, the environment is seldom known perfectly. Noisy sensors and…
Tire slip angle is a vital parameter in tire/vehicle dynamics and control. This paper proposes an accurate estimation method by the fusion of intelligent tire technology and machine-learning techniques. The intelligent tire is equipped by…
Error distribution analysis is an important assistant technology for the research of SINS(Strapdown Inertial Navigation System). Error distribution result can provide the contribution of different errors to final navigation error, which is…
Robust multisensor fusion of multi-modal measurements such as IMUs, wheel encoders, cameras, LiDARs, and GPS holds great potential due to its innate ability to improve resilience to sensor failures and measurement outliers, thereby enabling…
This paper focuses on the emerging paradigm shift of collision-inclusive motion planning and control for impact-resilient mobile robots, and develops a unified hierarchical framework for navigation in unknown and partially-observable…
The space environment around the Earth is becoming increasingly populated by both active spacecraft and space debris. To avoid potential collision events, significant improvements in Space Situational Awareness (SSA) activities and…
This paper proposes a solution for multiple-impulse orbital maneuvers near circular orbits for special cases where orbital observations are not globally available and the spacecraft is being observed through a limited window from a ground…
We present a novel framework to bootstrap Motion forecasting with Self-consistent Constraints (MISC). The motion forecasting task aims at predicting future trajectories of vehicles by incorporating spatial and temporal information from the…
Estimating the probability of failures or accidents with aerospace systems is often necessary when new concepts or designs are introduced, as it is being done for Autonomous Aircraft. If the design is safe, as it is supposed to be, accident…
Reconfigurable intelligent surface (RIS) has been anticipated to be a novel cost-effective technology to improve the performance of future wireless systems. In this paper, we investigate a practical RIS-aided multiple-input-multiple-output…
Over the last quarter-century, spacecraft conjunction assessment has focused on a quantity associated by its advocates with collision probability. This quantity has a well-known dilution feature, where it is small when uncertainty is large,…