Related papers: Human-Machine Adaptive Shared Control for Safe Aut…

In this paper, a steering action-aware Adaptive Cruise Control (ACC) approach for teleoperated road vehicles is proposed. In order to keep the vehicle in a safe state, the ACC approach can override the human operator's velocity control…

One of the critical challenges in automated driving is ensuring safety of automated vehicles despite the unknown behavior of the other vehicles. Although motion prediction modules are able to generate a probability distribution associated…

We design and experimentally evaluate a hybrid safe-by-construction collision avoidance controller for autonomous vehicles. The controller combines into a single architecture the respective advantages of an adaptive controller and a…

The advancement of vehicle automation and the growing adoption of electric vehicles (EVs) are reshaping transportation systems. While fully automated vehicles are expected to improve traffic stability, efficiency, and sustainability, recent…

Shared autonomy provides a framework where a human and an automated system, such as a robot, jointly control the system's behavior, enabling an effective solution for various applications, including human-robot interaction. However, a…

Many robotic systems are underactuated, meaning not all degrees of freedom can be directly controlled due to lack of actuators, input constraints, or state-dependent actuation. This property, compounded by modeling uncertainties and…

In preparing for connected and autonomous vehicles (CAVs), a worrisome aspect is the transition era which will be characterized by mixed traffic (where CAVs and human-driven vehicles (HDVs) share the roadway). Consistent with expectations…

The goal of the current study is to introduce a triadic human-AI collaboration framework for the automated vehicle domain. Previous classifications (e.g., SAE Levels of Automation) focus on defining automation levels based on who controls…

Connected and automated vehicles (CAVs) technologies promise to attenuate undesired traffic disturbances. However, in mixed traffic where human-driven vehicles (HDVs) also exist, the nonlinear human-driving behavior has brought critical…

With the growing technological advances in autonomous driving, the transport industry and research community seek to determine the impact that autonomous vehicles (AV) will have on consumers, as well as identify the different factors that…

Despite the continual advances in Advanced Driver Assistance Systems (ADAS) and the development of high-level autonomous vehicles (AV), there is a general consensus that for the short to medium term, there is a requirement for a human…

Autonomous driving has attracted significant attention from both academia and industries, which is expected to offer a safer and more efficient driving system. However, current autonomous driving systems are mostly based on a single…

Users of shared control systems change their behavior in the presence of assistance, which conflicts with assumpts about user behavior that some assistance methods make. In this paper, we propose an analysis technique to evaluate the user's…

Human-robot collaboration aims to extend human ability through cooperation with robots. This technology is currently helping people with physical disabilities, has transformed the manufacturing process of companies, improved surgical…

Simulation testing is a fundamental approach for evaluating automated vehicles (AVs). To ensure its reliability, it is crucial to accurately replicate interactions between AVs and background traffic, which necessitates effective…

Human awareness in robot motion planning is crucial for seamless interaction with humans. Many existing techniques slow down, stop, or change the robot's trajectory locally to avoid collisions with humans. Although using the information on…

Coordination among connected and autonomous vehicles (CAVs) is advancing due to developments in control and communication technologies. However, much of the current work is based on oversimplified and unrealistic task-specific assumptions,…

Connected and automated vehicles (CAVs) have a great potential to improve traffic efficiency in mixed traffic systems, which has been demonstrated by multiple numerical simulations and field experiments. However, some fundamental properties…

The primary focus of autonomous driving research is to improve driving accuracy. While great progress has been made, state-of-the-art algorithms still fail at times. Such failures may have catastrophic consequences. It therefore is…

Quadruped robots have strong adaptability to extreme environments but may also experience faults. Once these faults occur, robots must be repaired before returning to the task, reducing their practical feasibility. One prevalent concern…