Related papers: Introducing MISS, a new tool for collision avoidan…
This article proposes a novel Nonlinear Model Predictive Control (NMPC) framework for Micro Aerial Vehicle (MAV) autonomous navigation in constrained environments. The introduced framework allows us to consider the nonlinear dynamics of…
Classical autonomous driving systems connect perception and prediction modules via hand-crafted bounding-box interfaces, limiting information flow and propagating errors to downstream tasks. Recent research aims to develop end-to-end models…
This paper presents a physics-based channel modeling and optimization framework for reconfigurable intelligent surface (RIS)-assisted downlink multi-user multiple-input single-output (MU-MISO) communication systems in site-specific…
Reasoning about human motion is a core component of modern human-robot interactive systems. In particular, one of the main uses of behavior prediction in autonomous systems is to inform robot motion planning and control. However, a majority…
In this context, a major focus of this thesis is on unintentional collisions, where a straight goal is to eliminate injury from users and passerby's via realtime sensing and control systems. A less obvious focus is to combine collision…
Urban Air Mobility (UAM) relies on developing aerospace industries, where safe aviation and efficient communication are critical features of aircraft. However, it is challenging for aircraft to sustain efficient air-ground communication in…
This paper summarizes the ideas and key concepts in MISE (Memory Interference-induced Slowdown Estimation), which was published in HPCA 2013 [97], and examines the work's significance and future potential. Applications running concurrently…
Reconfigurable Intelligent Surface (RIS) plays a pivotal role in the sixth generation networks to enhance communication rate and localization accuracy. In this letter, we propose a positioning algorithm in a RIS-assisted environment, where…
We present an overview of recently developed data-driven tools for safety analysis of autonomous vehicles and advanced driver assist systems. The core algorithms combine model-based, hybrid system reachability analysis with sensitivity…
The amount of debris in orbit has increased significantly over the years. With the recent growth of interest in space exploration, conjunction assessment has become a central issue. One important metric to evaluate conjunction risk is the…
This paper investigates the mission planning problem for spacecraft confronting orbital debris to achieve autonomous avoidance. Firstly, combined with the avoidance requirements, a closed-loop framework of autonomous avoidance for orbital…
New methodologies will be needed to ensure the airspace remains safe and efficient as traffic densities rise to accommodate new unmanned operations. This paper explores how unmanned free-flight traffic may operate in dense airspace. We…
Driven by intelligent reflecting surface (IRS) and movable antenna (MA) technologies, movable IRS (MIRS) has been proposed to improve the adaptability and performance of conventional IRS, enabling flexible adjustment of the IRS reflecting…
Major cause of midvehicle collision is due to the distraction of drivers in both the Front and rear-end vehicle witnessed in dense traffic and high speed road conditions. In view of this scenario, a crash detection and collision avoidance…
Manipulation in confined and cluttered environments remains a significant challenge due to partial observability and complex configuration spaces. Effective manipulation in such environments requires an intelligent exploration strategy to…
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…
In the research of Intelligent Transportation Systems (ITS), traffic simulation is a key procedure for the evaluation of new methods and optimization of strategies. However, existing traffic simulation systems face two challenges. First,…
Understanding collision avoidance behavior is of key importance in traffic safety research and for designing and evaluating advanced driver assistance systems and autonomous vehicles. While existing experimental work has primarily focused…
Online generation of collision free trajectories is of prime importance for autonomous navigation. Dynamic environments, robot motion and sensing uncertainties adds further challenges to collision avoidance systems. This paper presents an…
This paper presents the use of robust model predictive control for the design of an intent-aware collision avoidance system for multi-agent aircraft engaged in horizontal maneuvering scenarios. We assume that information from other agents…