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This study provides a detailed analysis of current advancements in dynamic object tracking (DOT) and trajectory prediction (TP) methodologies, including their applications and challenges. It covers various approaches, such as feature-based,…
For autonomous driving or advanced driving assistance, it is key to monitor the vehicle dynamics behavior. Accurate models of this behavior include acceleration, but also the side-slip angle, that eventually results from the complex…
Identifying the physical properties of the surrounding environment is essential for robotic locomotion and navigation to deal with non-geometric hazards, such as slippery and deformable terrains. It would be of great benefit for robots to…
Automated vehicles require a comprehensive understanding of traffic situations to ensure safe and anticipatory driving. In this context, the prediction of pedestrians is particularly challenging as pedestrian behavior can be influenced by…
The recent development of novel aerial vehicles capable of physically interacting with the environment leads to new applications such as contact-based inspection. These tasks require the robotic system to exchange forces with…
One of the most relevant tasks in an intelligent vehicle navigation system is the detection of obstacles. It is important that a visual perception system for navigation purposes identifies obstacles, and it is also important that this…
There is a growing interest in new sensing technologies and processing algorithms to increase the level of driving automation towards self-driving vehicles. The challenge for autonomy is especially difficult for the negotiation of uncharted…
An accurate trajectory prediction is crucial for safe and efficient autonomous driving in complex traffic environments. In recent years, artificial intelligence has shown strong capabilities in improving prediction accuracy. However, its…
Recent advances in autonomous driving for uncrewed ground vehicles (UGVs) have spurred significant development, particularly in challenging terrains. This paper introduces a classification system assessing various UGV deployments reported…
A robust estimation of road course and traffic lanes is an essential part of environment perception for next generations of Advanced Driver Assistance Systems and development of self-driving vehicles. In this paper, a flexible method for…
A common assumption in the spatial analysis of agricultural field trials is stationarity. In practice, however, this assumption is often violated due to unaccounted field effects. For instance, in plant breeding field trials, this can lead…
Autonomous navigation in unstructured vegetated environments remains an open challenge. To successfully operate in these settings, ground vehicles must assess the traversability of the environment and determine which vegetation is pliable…
LADARs mounted on mobile platforms produce a wealth of precise range data on the surrounding objects and vehicles. The challenge we address is to infer from these raw LADAR data the location and orientation of nearby vehicles. We propose a…
Autonomous driving is an important trend of the automotive industry. The continuous research towards this goal requires a precise reference vehicle state estimation under all circumstances in order to develop and test autonomous vehicle…
Predicting the future motion of vehicles has been studied using various techniques, including stochastic policies, generative models, and regression. Recent work has shown that classification over a trajectory set, which approximates…
The use of unmanned aerial vehicles (UAVs) in precision agriculture has seen a huge increase recently. As such, systems that aim to apply various algorithms on the field need a structured framework of abstractions. This paper defines the…
Today's autonomous vehicles rely extensively on high-definition 3D maps to navigate the environment. While this approach works well when these maps are completely up-to-date, safe autonomous vehicles must be able to corroborate the map's…
In recent decades, due to the groundbreaking improvements in machine vision, many daily tasks are performed by computers. One of these tasks is multiple-vehicle tracking, which is widely used in different areas such as video surveillance…
Accurate traversability estimation is essential for safe and effective navigation of outdoor robots operating in complex environments. This paper introduces a novel experience-based method that allows robots to autonomously learn which…
Autonomous ground vehicles operating off-road must plan curvature-feasible paths while accounting for spatially varying soil strength and slope hazards in real time. We present a continuous state--cost metric that combines a Bekker…