Related papers: Safe and Efficient Trajectory Optimization for Aut…

In autonomous vehicles (AVs), early warning systems rely on collision prediction to ensure occupant safety. However, state-of-the-art methods using deep convolutional networks either fail at modeling collisions or are too expensive/slow,…

We address the problem of optimizing the performance of a dynamic system while satisfying hard safety constraints at all times. Implementing an optimal control solution is limited by the computational cost required to derive it in real…

Shape optimization approaches to inverse design offer low-dimensional, physically-guided parameterizations of structures by representing them as combinations of shape primitives. However, on discretized rectilinear simulation grids,…

This paper presents a new algorithm named spherical vector-based particle swarm optimization (SPSO) to deal with the problem of path planning for unmanned aerial vehicles (UAVs) in complicated environments subjected to multiple threats. A…

Cutting-edge connected vehicle (CV) technologies have drawn much attention in recent years. The real-time traffic data captured by a CV can be shared with other CVs and data centers so as to open new possibilities for solving diverse…

Visual-inertial odometry (VIO) is widely used for mobile robot localization, but its long-term accuracy degrades without global constraints. Incorporating ranging sensors such as ultra-wideband (UWB) can mitigate drift; however,…

In this article, we consider the problem of trajectory planning and control for on-road driving of an autonomous ground vehicle (AGV) in presence of static or moving obstacles. We propose a systematic approach to partition the…

We propose a novel method for continuous-time feature tracking in event cameras. To this end, we track features by aligning events along an estimated trajectory in space-time such that the projection on the image plane results in maximally…

Efficient and safe navigation of Unmanned Aerial Vehicles (UAVs) is critical for various applications, including combat support, package delivery and Search and Rescue Operations. This paper introduces the Tangent Intersection Guidance…

In order for autonomous vehicles to become a part of the Intelligent Transportation Ecosystem, they are required to guarantee a particular level of safety. For that to happen a safe vehicle control algorithms need to be developed, which…

We present a sampling-based kinodynamic planning framework for a bipedal robot in complex environments. Unlike other footstep planner which typically plan footstep locations and the biped dynamics in separate steps, we handle both…

Autonomous driving is a highly anticipated approach toward eliminating roadway fatalities. At the same time, the bar for safety is both high and costly to verify. This work considers the role of remotely-located human operators supervising…

This paper presents a novel computational scheme for sensitivity analysis of the velocity field in the level set method using the discrete adjoint method. The velocity field is represented in B-spline space, and the adjoint equations are…

Trajectory planning is a critical component in ensuring the safety, stability, and efficiency of autonomous vehicles. While existing trajectory planning methods have achieved progress, they often suffer from high computational costs,…

Accurate mass estimation is essential for the safe and efficient operation of autonomous heavy-duty vehicles, particularly during transportation missions in unstructured environments such as mining sites, where vehicle mass can vary…

In multi UAV scenarios,the traditional Artificial Potential Field (APF) method often leads to redundant flight paths and frequent abrupt heading changes due to unreasonable obstacle avoidance path planning,and is highly prone to inter UAV…

We consider the problem of multiple scattering on Smith microfacets. This problem is equivalent to computing volumetric light transport in a homogeneous slab. Although the symmetry of the slab allows for significant simplification, fully…

This article proposes a technique for the geometrically stable modeling of high-degree B-spline curves based on S-polygon in a float format, which will allow the accurate positioning of the end points of curves and the direction of the…

This paper proposes a novel algorithm for vehicle speed-aided monocular visual-inertial localization using a topological map. The proposed system aims to address the limitations of existing methods that rely heavily on expensive sensors…

The computational cost of traditional Computational Fluid Dynamics-based Aerodynamic Shape Optimization severely restricts design space exploration. This paper introduces TripOptimizer, a fully differentiable deep learning framework for…