Related papers: Vehicle Teleoperation: Performance Assessment of S…
Visual sensor networks are used for monitoring traffic in large cities and are promised to support automated driving in complex road segments. The pose of these sensors, i.e. position and orientation, directly determines the coverage of the…
This paper considers a remote state estimation problem with multiple sensors observing a dynamical process, where sensors transmit local state estimates over an independent and identically distributed (i.i.d.) packet dropping channel to a…
An eye-movement-based predicted trajectory guidance control (ePTGC) is proposed to mitigate the maneuverability degradation of a teleoperated ground vehicle caused by communication delays. Human sensitivity to delays is the main reason for…
Personal Rapid Transit (PRT) is a promising form of urban transport. Its operation consists in the use of small unmanned vehicles which convey the passengers among stations within a dedicated network. Various aspects of the PRT network…
Probabilistic state-estimation approaches offer a principled foundation for designing localization systems, because they naturally integrate sequences of imperfect motion and exteroceptive sensor data. Recently, probabilistic localization…
For robots with low rigidity, determining the robot's state based solely on kinematics is challenging. This is particularly crucial for a robot whose entire body is in contact with the environment, as accurate state estimation is essential…
State estimation and control are often addressed separately, leading to unsafe execution due to sensing noise, execution errors, and discrepancies between the planning model and reality. Simultaneous control and trajectory estimation using…
Car-following models, as the essential part of traffic microscopic simulations, have been utilized to analyze and estimate longitudinal drivers' behavior since sixty years ago. The conventional car following models use mathematical formulas…
Performance monitoring of object detection is crucial for safety-critical applications such as autonomous vehicles that operate under varying and complex environmental conditions. Currently, object detectors are evaluated using summary…
Teleoperation is increasingly being adopted as a critical fallback for autonomous vehicles. However, the impact of network latency on vision-based, perception-driven control remains insufficiently studied. The present work investigates the…
Multi-vehicle trajectory planning (MVTP) is one of the key challenges in multi-robot systems (MRSs) and has broad applications across various fields. This paper presents ESCoT, an enhanced step-based coordinate trajectory planning method…
We propose a method for automated synchronization of vehicle sensors useful for the study of multi-modal driver behavior and for the design of advanced driver assistance systems. Multi-sensor decision fusion relies on synchronized data…
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,…
Remote driving of vehicles is gaining in importance in the transportation sector, especially when Automated Driving Systems (ADSs) reach the limits of their system boundaries. This study investigates the challenges faced by human Remote…
As human space exploration evolves toward longer voyages farther from our home planet, in-situ resource utilization (ISRU) becomes increasingly important. Haptic teleoperations are one of the technologies by which such activities can be…
The focus of this paper is an integrated, fault-tolerant vehicle supervisory control algorithm for the overall stability of ground vehicles. Vehicle control systems contain many sensors and actuators that can communicate with each other…
Teleoperated driving enables remote human intervention in autonomous vehicles, addressing challenges in complex driving environments. However, its effectiveness depends on ultra-low latency, high-reliability communication. This paper…
Since Automated Driving Systems are not expected to operate flawlessly, Automated Vehicles will require human assistance in certain situations. For this reason, teleoperation offers the opportunity for a human to be remotely connected to…
While remarkable progress has been made in robust visual tracking, accurate target state estimation still remains a highly challenging problem. In this paper, we argue that this issue is closely related to the prevalent bounding box…
Recent work introduced the concept of human teleoperation (HT), where the remote robot typically considered in conventional bilateral teleoperation is replaced by a novice person wearing a mixed reality head mounted display and tracking the…