Related papers: Differentiable Collision Detection for a Set of Co…
For multi-vehicle complex traffic scenarios in shared spaces such as intelligent intersections, safe coordination and trajectory planning is challenging due to computational complexity. To meet this challenge, we introduce a computationally…
What is considered safe for a robot operator during physical human-robot collaboration (HRC) is specified in corresponding HRC standards (e.g., ISO/TS 15066). The regime that allows collisions between the moving robot and the operator,…
We propose a fully distributed control system architecture, amenable to in-vehicle implementation, that aims to safely coordinate connected and automated vehicles (CAVs) at road intersections. For control purposes, we build upon a fully…
As an emerging technology, Connected Autonomous Vehicles (CAVs) are believed to have the ability to move through intersections in a faster and safer manner, through effective Vehicle-to-Everything (V2X) communication and global observation.…
In this paper, we develop estimation and control methods for quickly reacting to collisions between omnidirectional mobile platforms and their environment. To enable the full-body detection of external forces, we use torque sensors located…
Object detection is a fundamental visual recognition problem in computer vision and has been widely studied in the past decades. Visual object detection aims to find objects of certain target classes with precise localization in a given…
We consider the problem of cooperative intersection management. It arises in automated transportation systems for people or goods but also in multi-robots environment. Therefore many solutions have been proposed to avoid collisions. The…
Small object detection has important application value in the fields of autonomous driving and drone scene analysis. As one of the most advanced object detection algorithms, YOLOv3 suffers some challenges when detecting small objects, such…
We present a framework for generating convex approximations of complex contact models, incorporating experimentally validated models like Hunt & Crossley coupled with Coulomb's law of friction alongside the principle of maximum dissipation.…
Recent advances in Artificial Intelligence (AI) technology have promoted their use in almost every field. The growing complexity of deep neural networks (DNNs) makes it increasingly difficult and important to explain the inner workings and…
One of the main concerns in design and process planning for multi-axis additive and subtractive manufacturing is collision avoidance between moving objects (e.g., tool assemblies) and stationary objects (e.g., a part unified with fixtures).…
Most currently used object detection methods are learning-based, and can detect objects under varying appearances. Those models require training and a training dataset. We focus on use cases with less data variation, but the requirement of…
The vast number of existing IP cameras in current road networks is an opportunity to take advantage of the captured data and analyze the video and detect any significant events. For this purpose, it is necessary to detect moving vehicles, a…
Real-time computation of optimal control is a challenging problem and, to solve this difficulty, many frameworks proposed to use learning techniques to learn (possibly sub-optimal) controllers and enable their usage in an online fashion.…
Physics-based simulation involves trade-offs between performance and accuracy. In collision detection, one trade-off is the granularity of collider geometry. Primitive-based colliders such as bounding boxes are efficient, while using the…
We present a model predictive controller (MPC) that automatically discovers collision-free locomotion while simultaneously taking into account the system dynamics, friction constraints, and kinematic limitations. A relaxed barrier function…
Human-vehicle cooperative driving has become the critical technology of autonomous driving, which reduces the workload of human drivers. However, the complex and uncertain road environments bring great challenges to the visual perception of…
Unmanned Aerial Vehicles (UAVs), have intrigued different people from all walks of life, because of their pervasive computing capabilities. UAV equipped with vision techniques, could be leveraged to establish navigation autonomous control…
An accurate and rapid-response perception system is fundamental for autonomous vehicles to operate safely. 3D object detection methods handle point clouds given by LiDAR sensors to provide accurate depth and position information for each…
Collaborative autonomous driving with multiple vehicles usually requires the data fusion from multiple modalities. To ensure effective fusion, the data from each individual modality shall maintain a reasonably high quality. However, in…