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Navigating an arbitrary-shaped ground robot safely in cluttered environments remains a challenging problem. The existing trajectory planners that account for the robot's physical geometry severely suffer from the intractable runtime. To…
Estimating and understanding the current scene is an inevitable capability of automated vehicles. Usually, maps are used as prior for interpreting sensor measurements in order to drive safely and comfortably. Only few approaches take into…
In this work, we propose a dynamic landing solution without the need for onboard exteroceptive sensors and an expensive computation unit, where all localization and control modules are carried out on the ground in a non-inertial frame. Our…
In the area of autonomous driving, navigating off-road terrains presents a unique set of challenges, from unpredictable surfaces like grass and dirt to unexpected obstacles such as bushes and puddles. In this work, we present a novel…
To safely traverse non-flat terrain, robots must account for the influence of terrain shape in their planned motions. Terrain-aware motion planners use an estimate of the vehicle roll and pitch as a function of pose, vehicle suspension, and…
Expensive sensors and inefficient algorithmic pipelines significantly affect the overall cost of autonomous machines. However, affordable robotic solutions are essential to practical usage, and their financial impact constitutes a…
Traffic prediction has long been a focal and pivotal area in research, witnessing both significant strides from city-level to road-level predictions in recent years. With the advancement of Vehicle-to-Everything (V2X) technologies,…
Constrained motion planning is a common but challenging problem in robotic manipulation. In recent years, data-driven constrained motion planning algorithms have shown impressive planning speed and success rate. Among them, the latent…
This paper presents a distributed multi-robot printing method which utilizes an optimization approach to decompose and allocate a printing task to a group of mobile robots. The motivation for this problem is to minimize the printing time of…
This paper introduces a cost effective localization system combining monocular visual odometry , augmented reality (AR) poses, and integrated INS-GPS data. We address monocular VO scale factor issues using AR poses and enhance accuracy with…
We present a control framework for achieving encirclement of a target moving in 3D using a multi-robot system. Three variations of a basic control strategy are proposed for different versions of the encirclement problem, and their…
We propose NH-TTC, a general method for fast, anticipatory collision avoidance for autonomous robots having arbitrary equations of motions. Our proposed approach exploits implicit differentiation and subgradient descent to locally optimize…
Obstacle avoidance is a critical component of the navigation stack required for mobile robots to operate effectively in complex and unknown environments. In this research, three end-to-end Convolutional Neural Networks (CNNs) were trained…
Trajectory planning for mobile robots in cluttered environments remains a major challenge due to narrow passages, where conventional methods often fail or generate suboptimal paths. To address this issue, we propose the adaptive trajectory…
In autonomous driving applications, accurate and efficient road surface reconstruction is paramount. This paper introduces RoMe, a novel framework designed for the robust reconstruction of large-scale road surfaces. Leveraging a unique mesh…
Automated driving object detection has always been a challenging task in computer vision due to environmental uncertainties. These uncertainties include significant differences in object sizes and encountering the class unseen. It may…
Lane detection is one of the core functions in autonomous driving and has aroused widespread attention recently. The networks to segment lane instances, especially with bad appearance, must be able to explore lane distribution properties.…
LiDAR-based global localization is a fundamental problem for mobile robots. It consists of two stages, place recognition and pose estimation, which yields the current orientation and translation, using only the current scan as query and a…
Urban traffic congestion is a chronic problem faced by many cities. It is essentially inefficient infrastructure use which results in increased vehicle fuel consumption and emissions. This in turn adds extra costs to commuters and…
Autonomous navigation is one of the main enabling technologies for future space missions. While conventional spacecraft are navigated through ground stations, their employment for deep-space CubeSats yields costs comparable to those of the…