Related papers: Intention-Aware Planner for Robust and Safe Aerial…
In hazardous environments like nuclear facilities, robotic systems are essential for executing tasks that would otherwise expose humans to dangerous radiation levels, which pose severe health risks and can be fatal. However, many operations…
Trajectory prediction is an essential component in autonomous driving, particularly for collision avoidance systems. Considering the inherent uncertainty of the task, numerous studies have utilized generative models to produce multiple…
Robots and autonomous vehicles should be aware of what happens in their surroundings. The segmentation and tracking of moving objects are essential for reliable path planning, including collision avoidance. We investigate this estimation…
Motion forecasting for on-road traffic agents presents both a significant challenge and a critical necessity for ensuring safety in autonomous driving systems. In contrast to most existing data-driven approaches that directly predict future…
Overtaking is one of the most challenging tasks in driving, and the current solutions to autonomous overtaking are limited to simple and static scenarios. In this paper, we present a method for behaviour and trajectory planning for safe…
The increasing popularity of quadrotors has given rise to a class of predominantly vision-driven vehicles. This paper addresses the problem of perception-aware time optimal path parametrization for quadrotors. Although many different…
Accurate trajectory prediction and motion planning are crucial for autonomous driving systems to navigate safely in complex, interactive environments characterized by multimodal uncertainties. However, current generation-then-evaluation…
Anticipating human intention by observing one's actions has many applications. For instance, picking up a cellphone, then a charger (actions) implies that one wants to charge the cellphone (intention). By anticipating the intention, an…
In general, optimal motion planning can be performed both locally and globally. In such a planning, the choice in favour of either local or global planning technique mainly depends on whether the environmental conditions are dynamic or…
Self-driving vehicles rely on sensory input to monitor their surroundings and continuously adapt to the most likely future road course. Predictive trajectory planning is based on snapshots of the (uncertain) road course as a key input.…
Shared control can help in teleoperated object manipulation by assisting with the execution of the user's intention. To this end, robust and prompt intention estimation is needed, which relies on behavioral observations. Here, an intention…
In this paper, we propose a robust and efficient quadrotor motion planning system for fast flight in 3-D complex environments. We adopt a kinodynamic path searching method to find a safe, kinodynamic feasible and minimum-time initial…
In this paper, we propose an efficient, receding horizon, local adaptive low-level planner as the middle layer between our original planner and controller. Our method is named as corridor-based model predictive contouring control (CMPCC)…
We address the problem of assigning a team of drones to autonomously capture a set desired shots of a dynamic target in the presence of obstacles. We present a two-stage planning pipeline that generates offline an assignment of drone to…
We present a target-driven navigation system to improve mapless visual navigation in indoor scenes. Our method takes a multi-view observation of a robot and a target as inputs at each time step to provide a sequence of actions that move the…
For machines to effectively assist humans in challenging visual search tasks, they must differentiate whether a human is simply glancing into a scene (navigational intent) or searching for a target object (informational intent). Previous…
This paper considers a collaborative tracking control problem using a group of fixed-wing unmanned aerial vehicles (UAVs) with constant and non-identical speeds. The dynamics of fixed-wing UAVs are modelled by unicycle-type equations with…
Autonomous Valet Parking (AVP) requires planning under partial observability, where parking spot availability evolves as dynamic agents enter and exit spots. Existing approaches either rely only on instantaneous spot availability or make…
Visual object tracking performance has been dramatically improved in recent years, but some severe challenges remain open, like distractors and occlusions. We suspect the reason is that the feature representations of the tracking targets…
Recent advances in trajectory prediction have shown that explicit reasoning about agents' intent is important to accurately forecast their motion. However, the current research activities are not directly applicable to intelligent and…