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Robotic vision for human-robot interaction and collaboration is a critical process for robots to collect and interpret detailed information related to human actions, goals, and preferences, enabling robots to provide more useful services to…
Autonomous driving at intersections is one of the most complicated and accident-prone traffic scenarios, especially with mixed traffic participants such as vehicles, bicycles and pedestrians. The driving policy should make safe decisions to…
Autonomous Vehicle (AV) systems have been developed with a strong reliance on machine learning techniques. While machine learning approaches, such as deep learning, are extremely effective at tasks that involve observation and…
The problem of coordination without a priori information about the environment is important in robotics. Applications vary from formation control to search and rescue. This paper considers the problem of search by a group of solitary…
Autonomous mobile robots need to perceive the environments with their onboard sensors (e.g., LiDARs and RGB cameras) and then make appropriate navigation decisions. In order to navigate human-inhabited public spaces, such a navigation task…
To address the coordination issue of connected automated vehicles (CAVs) at urban scenarios, a game-theoretic decision-making framework is proposed that can advance social benefits, including the traffic system efficiency and safety, as…
Human-vehicle cooperative driving has become the critical technology of autonomous driving, which reduces the workload of human drivers. However, the complex and uncertain road environments bring great challenges to the visual perception of…
Collaboration in multi-agent autonomous systems is critical to increase performance while ensuring safety. However, due to heterogeneity of their features in, e.g., perception qualities, some autonomous systems have to be considered more…
In this paper, we propose an approach how connected and highly automated vehicles can perform cooperative maneuvers such as lane changes and left-turns at urban intersections where they have to deal with human-operated vehicles and…
This paper proposes a design for a hybrid, city-wide urban navigation system for moving agents demanding dedicated assistance. The hybrid system combines GPS and vehicle-to-vehicle communication from an ad-hoc network of parked cars, and…
Perception is necessary for autonomous navigation in an unknown area crowded with obstacles. It's challenging for a robot to navigate safely without any sensors that can sense the environment, resulting in a $\textit{blind}$ robot, and…
While commendable progress has been made in user-centric research on mobile assistive systems for blind and low-vision (BLV) individuals, references that directly inform robot navigation design remain rare. To bridge this gap, we conducted…
The Bluetooth protocol can be used for intervehicle communication equipped with Bluetooth devices. This work investigates the challenges and feasibility of developing intelligent driving system providing timesensitive information about…
People with visual impairments (PwVI) often have difficulties navigating through unfamiliar indoor environments. However, current wayfinding tools are fairly limited. In this short paper, we present our in-progress work on a wayfinding…
The reliability of current autonomous driving systems is often jeopardized in situations when the vehicle's field-of-view is limited by nearby occluding objects. To mitigate this problem, vehicle-to-vehicle communication to share sensor…
Construction robots operate in unstructured construction sites, where effective visual perception is crucial for ensuring safe and seamless operations. However, construction robots often handle large elements and perform tasks across…
It is important for socially assistive robots to be able to recognize when a user needs and wants help. Such robots need to be able to recognize human needs in a real-time manner so that they can provide timely assistance. We propose an…
Recently, modeling of decision making and control systems that include heterogeneous smart sensing devices (machines) as well as human agents as participants is becoming an important research area due to the wide variety of applications…
Efficient trajectory planning for urban intersections is currently one of the most challenging tasks for an Autonomous Vehicle (AV). Courteous behavior towards other traffic participants, the AV's comfort and its progression in the…
Current robot platforms are being employed to collaborate with humans in a wide range of domestic and industrial tasks. These environments require autonomous systems that are able to classify and communicate anomalous situations such as…