Related papers: Introducing MISS, a new tool for collision avoidan…
Model merging has recently emerged as a lightweight alternative to ensembling, combining multiple fine-tuned models into a single set of parameters with no additional training overhead. Yet, existing merging methods fall short of matching…
The overall aim of the Space Situational Awareness (SSA) Preparatory Programme is to support the European independent utilisation of and access to space for research or services, through providing timely and quality data, information,…
This paper presents a motion planning and risk analysis framework for enhancing human-robot collaboration with a Multi-Rotor Aerial Vehicle. The proposed method employs Signal Temporal Logic to encode key mission objectives, including…
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…
Reconfigurable intelligent surfaces (RISs) have been extensively applied in integrated sensing and communication (ISAC) systems due to the capability of enhancing physical layer security (PLS). However, conventional static RIS architectures…
In this paper, we present an on-board vision-based approach for avoidance of moving obstacles in dynamic environments. Our approach relies on an efficient obstacle detection and tracking algorithm based on depth image pairs, which provides…
Intelligent devices for supporting persons with vision impairment are becoming more widespread, but they are lacking behind the advancements in intelligent driver assistant system. To make a first step forward, this work discusses the…
In this work, we propose a method to efficiently compute smooth, time-optimal trajectories for micro aerial vehicles (MAVs) evading a moving obstacle. Our approach first computes an n-dimensional trajectory from the start- to an arbitrary…
Tool-using agents that act in the world need to be both useful and safe. Well-calibrated model confidences can be used to weigh the risk versus reward of potential actions, but prior work shows that many models are poorly calibrated.…
This paper presents a novel methodology to enforce motion safety guarantees even in the event of a sudden loss of control capabilities by any agent within a multi-agent system. This passive safety methodology permits the replacement of…
Maritime Autonomous Surface Ships (MASS) are increasingly regarded as a promising solution to address crew shortages, improve navigational safety, and improve operational efficiency in the maritime industry. Nevertheless, the reliable…
In recent years, computer simulators of rigid-body systems have been successfully used to improve and expand the field of developing new space robots, becoming a leading tool for the preliminary investigation and evaluation of space robotic…
Motion planning at urban intersections that accounts for the situation context, handles occlusions, and deals with measurement and prediction uncertainty is a major challenge on the way to urban automated driving. In this work, we address…
This paper proposes an adaptive tracking strategy with mass-inertia estimation for aerial transportation problems of multi-rotor UAVs. The dynamic model of multi-rotor UAVs with disturbances is firstly developed with a linearly…
This paper studies a communication-centric integrated sensing and communication (ISAC) system, where a multi-antenna base station (BS) simultaneously performs downlink communication and target detection. A novel target detection and…
Unmanned Aerial Vehicles (UAVs) rely on measurements from Inertial Measurement Units (IMUs) to maintain stable flight. However, IMUs are susceptible to physical attacks, including acoustic resonant and electromagnetic interference attacks,…
Manipulating deformable objects arises in daily life and numerous applications. Despite phenomenal advances in industrial robotics, manipulation of deformable objects remains mostly a manual task. This is because of the high number of…
Probabilistic collision detection (PCD) is essential in motion planning for robots operating in unstructured environments, where considering sensing uncertainty helps prevent damage. Existing PCD methods mainly used simplified geometric…
Tightly coupled SLAM formulations under mixed-rate sensing often bind temporal processing, local geometric association, estimator formulation, and map-update policy into method-specific designs. Such binding makes it difficult to vary one…
We present the Field of Safe Motion (FSM), a quantitative safety model for determining whether a driver maintains a collision-free escape route, or "out," at any given moment by accounting for that driver's physical capabilities and the…