Related papers: Active Safety System for Semi-Autonomous Teleopera…
This article discusses the concept of an Operational Design Domain (ODD) designed specifically for teleoperated road vehicles. For this purpose, the ODD concept designed for automated driving is adapted for teleoperation. As teleoperation…
Teleoperation enables remote human support of automated vehicles in scenarios where the automation is not able to find an appropriate solution. Remote assistance concepts, where operators provide discrete inputs to aid specific automation…
Multi-object nonprehensile transportation in teleoperation demands simultaneous trajectory tracking and tray orientation control. Existing methods often struggle with model dependency, uncertain parameters, and multi-object adaptability. We…
Road vehicle safety systems can be broadly classified into the two categories of passive and active systems. The aim of passive safety systems is to reduce risk of injury to the occupants of the vehicle during and after an accident like a…
Vehicles with autonomous driving capabilities are present on public streets. However, edge cases remain that still require a human in-vehicle driver. Assuming the vehicle manages to come to a safe state in an automated fashion, teleoperated…
As passenger vehicle technologies have advanced, so have their capabilities to avoid obstacles, especially with developments in tires, suspensions, steering, as well as safety technologies like ABS, ESC, and more recently, ADAS systems.…
The implementation of optimization-based motion coordination approaches in real world multi-agent systems remains challenging due to their high computational complexity and potential deadlocks. This paper presents a distributed model…
In this paper, a human-machine adaptive shared control method is proposed for automated vehicles (AVs) under automation performance degradation. First, a novel risk assessment module is proposed to monitor driving behavior and evaluate…
With increasing automation in passenger vehicles, the study of safe and smooth occupant-vehicle interaction and control transitions is key. In this study, we focus on the development of contextual, semantically meaningful representations of…
The Responsibility-Sensitive Safety (RSS) model offers provable safety for vehicle behaviors such as minimum safe following distance. However, handling worst-case variability and uncertainty may significantly lower vehicle permissiveness,…
Ensuring safety in autonomous vehicles necessitates advanced path planning and obstacle avoidance capabilities, particularly in dynamic environments. This paper introduces a bi-level control framework that efficiently augments road…
Autonomous driving is a multi-agent setting where the host vehicle must apply sophisticated negotiation skills with other road users when overtaking, giving way, merging, taking left and right turns and while pushing ahead in unstructured…
Safety assurance is a paramount factor in the large-scale deployment of various autonomous systems (e.g., self-driving vehicles). However, the execution of safety engineering practices and processes have been challenged by an increasing…
Advanced driver assistance systems (ADAS) are often used in the automotive industry to highlight innovative improvements in vehicle safety. However, today it is unclear whether certain automation (e.g., adaptive cruise control, lane…
This paper describes Waymo's Collision Avoidance Testing (CAT) methodology: a scenario-based testing method that evaluates the safety of the Waymo Driver Automated Driving Systems' (ADS) intended functionality in conflict situations…
Semi-autonomous vehicles are increasingly serving critical functions in various settings from mining to logistics to defence. A key characteristic of such systems is the presence of the human (drivers) in the control loop. To ensure safety,…
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…
Mobile manipulators can be used for machine tending and material handling tasks in small volume manufacturing applications. These applications usually have semi-structured work environment. The use of a fully autonomous mobile manipulator…
In hazardous and remote environments, robotic systems perform critical tasks demanding improved safety and efficiency. Among these, quadruped robots with manipulator arms offer mobility and versatility for complex operations. However,…
In automated driving, risk describes potential harm to passengers of an autonomous vehicle (AV) and other road users. Recent studies suggest that human-like driving behavior emerges from embedding risk in AV motion planning algorithms.…