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Given the complexity of real-world, unstructured domains, it is often impossible or impractical to design models that include every feature needed to handle all possible scenarios that an autonomous system may encounter. For an autonomous…

Robustness in AI systems refers to their ability to maintain reliable and accurate performance under various conditions, including out-of-distribution (OOD) samples, adversarial attacks, and environmental changes. This is crucial in…

While Unmanned Aerial Vehicles (UAVs) have gained significant traction across various fields, path planning in 3D environments remains a critical challenge, particularly under size, weight, and power (SWAP) constraints. Traditional modular…

Robust optimization is becoming increasingly important in machine learning applications. In this paper, we study a unified framework of robust submodular optimization. We study this problem both from a minimization and maximization…

The increase in complexity of autonomous systems is accompanied by a need of data-driven development and validation strategies. Advances in computer graphics and cloud clusters have opened the way to massive parallel high fidelity…

Trajectory sampling in the Frenet(road-aligned) frame, is one of the most popular methods for motion planning of autonomous vehicles. It operates by sampling a set of behavioural inputs, such as lane offset and forward speed, before solving…

Autonomous soundscape augmentation systems typically use trained models to pick optimal maskers to effect a desired perceptual change. While acoustic information is paramount to such systems, contextual information, including participant…

The training of autonomous agents often requires expensive and unsafe trial-and-error interactions with the environment. Nowadays several data sets containing recorded experiences of intelligent agents performing various tasks, spanning…

Learning a human-like driving policy from large-scale driving demonstrations is promising, but the uncertainty and non-deterministic nature of planning make it challenging. Existing learning-based planning methods follow a deterministic…

While the development of fully autonomous vehicles is one of the major research fields in the Intelligent Transportation Systems (ITSs) domain, the upcoming longterm transition period - the hybrid vehicular traffic - is often neglected.…

Limited power and computational resources, absence of high-end sensor equipment and GPS-denied environments are challenges faced by autonomous micro areal vehicles (MAVs). We address these challenges in the context of autonomous navigation…

The design of autonomous vehicles (AVs) and the design of AV-enabled mobility systems are closely coupled. Indeed, knowledge about the intended service of AVs would impact their design and deployment process, whilst insights about their…

Modern automated driving solutions utilize trajectory planning and control components with numerous parameters that need to be tuned for different driving situations and vehicle types to achieve optimal performance. This paper proposes a…

Many players in the automotive field support scenario-based assessment of automated vehicles (AVs), where individual traffic situations can be tested and, thus, facilitate concluding on the performance of AVs in different situations. Since…

Scenario-based testing is becoming increasingly important in safety assurance for automated driving. However, comprehensive and sufficiently complete coverage of the scenario space requires significant effort and resources if using only…

Motion trajectory planning is one crucial aspect for automated vehicles, as it governs the own future behavior in a dynamically changing environment. A good utilization of a vehicle's characteristics requires the consideration of the…

Automated Vehicles require exhaustive testing in simulation to detect as many safety-critical failures as possible before deployment on public roads. In this work, we focus on the core decision-making component of autonomous robots: their…

Autonomous vehicles with a self-evolving ability are expected to cope with unknown scenarios in the real-world environment. Take advantage of trial and error mechanism, reinforcement learning is able to self evolve by learning the optimal…

Many autonomous driving motion planners generate trajectories by optimizing a reward/cost functional. Designing and tuning a high-performance reward/cost functional for Level-4 autonomous driving vehicles with exposure to different driving…

Pioneers of autonomous vehicles (AVs) promised to revolutionize the driving experience and driving safety. However, milestones in AVs have materialized slower than forecast. Two culprits are (1) the lack of verifiability of proposed…