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Accurate traffic participant prediction is the prerequisite for collision avoidance of autonomous vehicles. In this work, we predict pedestrians by emulating their own motion planning. From online observations, we infer a mixture density…

Driving in dense traffic with human and autonomous drivers is a challenging task that requires high-level planning and reasoning. Human drivers can achieve this task comfortably, and there has been many efforts to model human driver…

The optimal operation of transportation systems is often susceptible to unexpected disruptions. Many established control strategies reliant on mathematical models can struggle with real-world disruptions, leading to significant divergence…

Self-driving vehicles must be able to act intelligently in diverse and difficult environments, marked by high-dimensional state spaces, a myriad of optimization objectives and complex behaviors. Traditionally, classical optimization and…

The presence of robots amongst pedestrians affects them causing deviation to their trajectories. Existing methods suffer from the limitation of not being able to objectively measure this deviation in unseen cases. In order to solve this…

Current state-of-the-art crowd navigation approaches are mainly deep reinforcement learning (DRL)-based. However, DRL-based methods suffer from the issues of generalization and scalability. To overcome these challenges, we propose a method…

Traffic congestion and collisions represent significant economic, environmental, and social challenges worldwide. Traditional traffic management approaches have shown limited success in addressing these complex, dynamic problems. To address…

This paper introduces a hybrid algorithm of deep reinforcement learning (RL) and Force-based motion planning (FMP) to solve distributed motion planning problem in dense and dynamic environments. Individually, RL and FMP algorithms each have…

A real-time Deep Learning based method for Pedestrian Detection (PD) is applied to the Human-Aware robot navigation problem. The pedestrian detector combines the Aggregate Channel Features (ACF) detector with a deep Convolutional Neural…

In this paper, we develop a safe decision-making method for self-driving cars in a multi-lane, single-agent setting. The proposed approach utilizes deep reinforcement learning (RL) to achieve a high-level policy for safe tactical…

Finding feasible, collision-free paths for multiagent systems can be challenging, particularly in non-communicating scenarios where each agent's intent (e.g. goal) is unobservable to the others. In particular, finding time efficient paths…

Mobile crowdsensing has gained significant attention in recent years and has become a critical paradigm for emerging Internet of Things applications. The sensing devices continuously generate a significant quantity of data, which provide…

In this paper, we propose a new autonomous braking system based on deep reinforcement learning. The proposed autonomous braking system automatically decides whether to apply the brake at each time step when confronting the risk of collision…

Deploying a safe mobile robot policy in scenarios with human pedestrians is challenging due to their unpredictable movements. Current Reinforcement Learning-based motion planners rely on a single policy to simulate pedestrian movements and…

Avoiding collisions with vulnerable road users (VRUs) using sensor-based early recognition of critical situations is one of the manifold opportunities provided by the current development in the field of intelligent vehicles. As especially…

Deep reinforcement learning has seen successful implementations on humanoid robots to achieve dynamic walking. However, these implementations have been so far successful in simple environments void of obstacles. In this paper, we aim to…

Reinforcement learning is considered to be a strong AI paradigm which can be used to teach machines through interaction with the environment and learning from their mistakes, but it has not yet been successfully used for automotive…

Pedestrian detection is one of the most explored topics in computer vision and robotics. The use of deep learning methods allowed the development of new and highly competitive algorithms. Deep Reinforcement Learning has proved to be within…

Recent focus on robustness to adversarial attacks for deep neural networks produced a large variety of algorithms for training robust models. Most of the effective algorithms involve solving the min-max optimization problem for training…

A deep reinforcement learning based multi-objective autonomous braking system is presented. The design of the system is formulated in a continuous action space and seeks to maximize both pedestrian safety and perception as well as passenger…