Related papers: On Infusing Reachability-Based Safety Assurance wi…
In this paper, we propose an approach for synthesizing provable reach-avoid controllers, which drive a deterministic system operating in an unknown environment to safely reach a desired target set. The approach falls within the reachability…
Single-lane car-following is a fundamental task in autonomous driving. A desirable car-following controller should keep a reasonable range of distances to the preceding vehicle and do so as smoothly as possible. To achieve this, numerous…
Social acceptance is a major hurdle for autonomous vehicle technology, central to which is ensuring both passengers and nearby pedestrians feel safe. This idea of `feeling safe' and perceived safety is highly subjective and rooted in human…
Autonomous vehicles (AV) are becoming a part of humans' everyday life. There are numerous pilot projects of driverless public buses; some car manufacturers deliver their premium-level automobiles with advanced self-driving features. Thus,…
Ensuring safety is crucial to promote the application of robot manipulators in open workspaces. Factors such as sensor errors or unpredictable collisions make the environment full of uncertainties. In this work, we investigate these…
Ensuring safety in autonomous systems with vision-based control remains a critical challenge due to the high dimensionality of image inputs and the fact that the relationship between true system state and its visual manifestation is…
Efficient behavior and trajectory planning is one of the major challenges for automated driving. Especially intersection scenarios are very demanding due to their complexity arising from the variety of maneuver possibilities and other…
In the context of Human-Robot Collaboration (HRC), it is crucial that the two actors are able to communicate with each other in a natural and efficient manner. The absence of a communication interface is often a cause of undesired…
In this paper, a cooperative decision-making is presented, which is suitable for intention-aware automated vehicle functions. With an increasing number of highly automated and autonomous vehicles on public roads, trust is a very important…
Human-Lead Cooperative Adaptive Cruise Control (HL-CACC) is regarded as a promising vehicle platooning technology in real-world implementation. By utilizing a Human-driven Vehicle (HV) as the platoon leader, HL-CACC reduces the cost and…
When designing path tracking controllers for car-like vehicles, two main aspects are the tracking performance and the characteristics of the actuation signal. Our work bases on an existing variable structure controller that was designed…
The goal of autonomous vehicles is to navigate public roads safely and comfortably. To enforce safety, traditional planning approaches rely on handcrafted rules to generate trajectories. Machine learning-based systems, on the other hand,…
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…
In advanced manufacturing, strict safety guarantees are required to allow humans and robots to work together in a shared workspace. One of the challenges in this application field is the variety and unpredictability of human behavior,…
This paper presents the validation of shared control strategies for critical maneuvers in automated driving systems. Shared control involves collaboration between the driver and automation, allowing both parties to actively engage and…
Imitation learning is a promising approach to end-to-end training of autonomous vehicle controllers. Typically the driving process with such approaches is entirely automatic and black-box, although in practice it is desirable to control the…
Considerable research efforts have been devoted to the development of motion planning algorithms, which form a cornerstone of the autonomous driving system (ADS). Nonetheless, acquiring an interactive and secure trajectory for the ADS…
Aerial manipulation for safe physical interaction with their environments is gaining significant momentum in robotics research. In this paper, we present a disturbance-observer-based safety-critical control for a fully actuated aerial…
Autonomous Braking and Throttle control is key in developing safe driving systems for the future. There exists a need for autonomous vehicles to negotiate a multi-agent environment while ensuring safety and comfort. A Deep Reinforcement…
Autonomous and connected vehicles are rapidly evolving, integrating numerous technologies and software. This progress, however, has made them appealing targets for cybersecurity attacks. As the risk of cyber threats escalates with this…