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Navigating mobile robots through environments shared with humans is challenging. From the perspective of the robot, humans are dynamic obstacles that must be avoided. These obstacles make the collision-free space nonconvex, which leads to…

Single camera 3D perception for traffic monitoring faces significant challenges due to occlusion and limited field of view. Moreover, fusing information from multiple cameras at the image feature level is difficult because of different view…

Hazard detection is critical for enabling autonomous landing on planetary surfaces. Current state-of-the-art methods leverage traditional computer vision approaches to automate the identification of safe terrain from input digital elevation…

Autonomous mobile agents often operate in hazardous environments, necessitating an awareness of safety. These agents can have non-linear, stochastic dynamics that must be considered during planning to guarantee bounded risk. Most state of…

Path planning is crucial for the navigation of autonomous vehicles, yet these vehicles face challenges in complex and real-world environments. Although a global view may be provided, it is often outdated, necessitating the reliance of…

This article introduces a novel approach to constructing a topometric map that allows for efficient navigation and decision-making in mobile robotics applications. The method generates the topometric map from a 2D grid-based map. The…

Motion prediction of vehicles is critical but challenging due to the uncertainties in complex environments and the limited visibility caused by occlusions and limited sensor ranges. In this paper, we study a new task, safety-aware motion…

We tackle the problem of object detection and pose estimation in a shared space downtown environment. For perception multiple laser scanners with 360{\deg} coverage were fused in a dynamic occupancy grid map (DOGMa). A single-stage deep…

Balancing safety and efficiency when planning in crowded scenarios with uncertain dynamics is challenging where it is imperative to accomplish the robot's mission without incurring any safety violations. Typically, chance constraints are…

This paper presents a digital-twin platform for active safety analysis in mixed traffic environments. The platform is built using a multi-modal data-enabled traffic environment constructed from drone-based aerial LiDAR, OpenStreetMap, and…

Autonomous vehicles interacting with other traffic participants heavily rely on the perception and prediction of other agents' behaviors to plan safe trajectories. However, as occlusions limit the vehicle's perception ability, reasoning…

Efficient trajectory planning for urban intersections is currently one of the most challenging tasks for an Autonomous Vehicle (AV). Courteous behavior towards other traffic participants, the AV's comfort and its progression in the…

This paper presents a driver-specific risk recognition framework for autonomous vehicles that can extract inter-vehicle interactions. This extraction is carried out for urban driving scenarios in a driver-cognitive manner to improve the…

The problem of active mapping aims to plan an informative sequence of sensing views given a limited budget such as distance traveled. This paper consider active occupancy grid mapping using a range sensor, such as LiDAR or depth camera.…

Predicting the possible future behaviors of vehicles that drive on shared roads is a crucial task for safe autonomous driving. Many existing approaches to this problem strive to distill all possible vehicle behaviors into a simplified set…

Autonomous navigation guided by natural language instructions is essential for improving human-robot interaction and enabling complex operations in dynamic environments. While large language models (LLMs) are not inherently designed for…

This paper presents a novel method for reformulating non-differentiable collision avoidance constraints into smooth nonlinear constraints using strong duality of convex optimization. We focus on a controlled object whose goal is to avoid…

Human driver can easily describe the complex traffic scene by visual system. Such an ability of precise perception is essential for driver's planning. To achieve this, a geometry-aware representation that quantizes the physical 3D scene…

For safe operation, a robot must be able to avoid collisions in uncertain environments. Existing approaches for motion planning under uncertainties often assume parametric obstacle representations and Gaussian uncertainty, which can be…

The safe deployment of autonomous vehicles relies on their ability to effectively react to environmental changes. This can require maneuvering on varying surfaces which is still a difficult problem, especially for slippery terrains. To…