Related papers: Adversarial Path Planning for Optimal Camera Posit…
Computer vision algorithms are known to be extremely sensitive to the environmental conditions in which the data is captured, e.g., lighting conditions and target density. Tuning of parameters or choosing a completely new algorithm is often…
Incorporating an autonomous auxiliary camera into robot-assisted minimally invasive surgery (RAMIS) enhances spatial awareness and eliminates manual viewpoint control. Existing path planning methods for auxiliary cameras track…
Path planning algorithms for unmanned aerial or ground vehicles, in many surveillance applications, rely on Global Positioning System (GPS) information for localization. However, disruption of GPS signals, by intention or otherwise, can…
Navigating a collision-free and optimal trajectory for a robot is a challenging task, particularly in environments with moving obstacles such as humans. We formulate this problem as a stochastic optimal control problem. Since solving the…
We consider the problem of time-optimal path planning for simple nonholonomic vehicles. In previous similar work, the vehicle has been simplified to a point mass and the obstacles have been stationary. Our formulation accounts for a…
Real-world autonomous vehicles often operate in a priori unknown environments. Since most of these systems are safety-critical, it is important to ensure they operate safely in the face of environment uncertainty, such as unseen obstacles.…
This paper deals with the accomplishment of total area coverage of an arbitrary region using sensors with a finite sensing radius of rs. For a given region, we aim to obtain a deterministic placement of sensors which, apart from ensuring…
We present a solution to the problem of spatio-temporal calibration for event cameras mounted on an onmi-directional vehicle. Different from traditional methods that typically determine the camera's pose with respect to the vehicle's body…
We present a method for optimal coordination of multiple vehicle teams when multiple endpoint configurations are equally desirable, such as seen in the autonomous assembly of formation flight. The individual vehicles' positions in the…
This paper introduces a reinforcement learning-based tracking control approach for a class of nonlinear systems using neural networks. In this approach, adversarial attacks were considered both in the actuator and on the outputs. This…
Real time outdoor navigation in highly dynamic environments is an crucial problem. The recent literature on real time static SLAM don't scale up to dynamic outdoor environments. Most of these methods assume moving objects as outliers or…
Robust and accurate localization is an essential component for robotic navigation and autonomous driving. The use of cameras for localization with high definition map (HD Map) provides an affordable localization sensor set. Existing methods…
In this paper, we consider a new unmanned aerial vehicle (UAV)-assisted oblique image acquisition system where a UAV is dispatched to take images of multiple ground targets (GTs). To study the three-dimensional (3D) UAV trajectory design…
Autonomous robots commonly aim to complete a nominal behavior while minimizing a cost; this leaves them vulnerable to failure or unplanned scenarios, where a backup or contingency plan to a safe set is needed to avoid a total mission…
As robots operate in increasingly complex and dynamic environments, fast motion re-planning has become a widely explored area of research. In a real-world deployment, we often lack the ability to fully observe the environment at all times,…
We present an approach to solving hard geometric optimization problems in the RANSAC framework. The hard minimal problems arise from relaxing the original geometric optimization problem into a minimal problem with many spurious solutions.…
Evaluating the robustness of automated driving planners is a critical and challenging task. Although methodologies to evaluate vehicles are well established, they do not yet account for a reality in which vehicles with autonomous components…
Camera display reflections are an issue in bright light situations, as they may prevent users from correctly positioning the subject in the picture. We propose a software solution to this problem, which consists in modifying the image in…
In this work, we extend the convex bodies chasing problem (CBC) to an adversarial setting, where an agent (the Player) is tasked with chasing a sequence of convex bodies generated adversarially by another agent (the Opponent). The Player…
A major challenge in place recognition for autonomous driving is to be robust against appearance changes due to short-term (e.g., weather, lighting) and long-term (seasons, vegetation growth, etc.) environmental variations. A promising…