Related papers: A Safety-Critical Framework for UGVs in Complex En…
Fast and safe navigation of dynamical systems through a priori unknown cluttered environments is vital to many applications of autonomous systems. However, trajectory planning for autonomous systems is computationally intensive, often…
Forecasting the scalable future states of surrounding traffic participants in complex traffic scenarios is a critical capability for autonomous vehicles, as it enables safe and feasible decision-making. Recent successes in learning-based…
This work presents a novel framework for the formation control of multiple autonomous ground vehicles in an on-road environment. Unique challenges of this problem lie in 1) the design of collision avoidance strategies with obstacles and…
With the release of open source datasets such as nuPlan and Argoverse, the research around learning-based planners has spread a lot in the last years. Existing systems have shown excellent capabilities in imitating the human driver…
Reliable deployment of Unmanned Aerial Vehicles (UAVs) in cluttered unknown environments requires accurate sensors for Global Navigation Satellite System (GNSS)-denied localization and obstacle avoidance. Such a requirement limits the usage…
To further improve the learning efficiency and performance of reinforcement learning (RL), in this paper we propose a novel uncertainty-aware model-based RL (UA-MBRL) framework, and then implement and validate it in autonomous driving under…
Although quadrotor navigation has achieved high performance in trajectory planning and control, real-time adaptability in unknown complex environments remains a core challenge. This difficulty mainly arises because most existing planning…
The design of cooperative adaptive cruise control is critical in mixed traffic flow, where connected and automated vehicles (CAVs) and human-driven vehicles (HDVs) coexist. Compared with pure CAVs, the major challenge is how to handle the…
An important capability of autonomous Unmanned Aerial Vehicles (UAVs) is autonomous landing while avoiding collision with obstacles in the process. Such capability requires real-time local trajectory planning. Although trajectory-planning…
Due to the inability to receive signals from the Global Navigation Satellite System (GNSS) in extreme conditions, achieving accurate and robust navigation for Unmanned Aerial Vehicles (UAVs) is a challenging task. Recently emerged,…
This paper proposes a novel trajectory generation method based on Model Predictive Control (MPC) for agile landing of an Unmanned Aerial Vehicle (UAV) onto an Unmanned Surface Vehicle (USV)'s deck in harsh conditions. The trajectory…
Efficient aerial data collection is important in many remote sensing applications. In large-scale monitoring scenarios, deploying a team of unmanned aerial vehicles (UAVs) offers improved spatial coverage and robustness against individual…
This study presents a dynamic safety margin-based reinforcement learning framework for local motion planning in dynamic and uncertain environments. The proposed planner integrates real-time trajectory optimization with adaptive gap…
This article aims to develop novel path planning algorithms required to deploy multiple unmanned vehicles in Global Positioning System (GPS) denied environments. Unmanned vehicles (ground or aerial) are ideal platforms for executing…
Despite the growing impact of Unmanned Aerial Vehicles (UAVs) across various industries, most of current available solutions lack for a robust autonomous navigation system to deal with the appearance of obstacles safely. This work presents…
Optimal collision-free formation control of the unmanned aerial vehicle (UAV) is a challenge. The state-of-the-art optimal control approaches often rely on numerical methods sensitive to initial guesses. This paper presents an innovative…
A fundamental challenge in car-following modeling lies in accurately representing the multi-scale complexity of driving behaviors, particularly the intra-driver heterogeneity where a single driver's actions fluctuate dynamically under…
This paper considers the problem of robot motion planning in a workspace with obstacles for systems with uncertain 2nd-order dynamics. In particular, we combine closed form potential-based feedback controllers with adaptive control…
We present UrbanFly: an uncertainty-aware real-time planning framework for quadrotor navigation in urban high-rise environments. A core aspect of UrbanFly is its ability to robustly plan directly on the sparse point clouds generated by a…
Accurate localization using visual information is a critical yet challenging task, especially in urban environments where nearby buildings and construction sites significantly degrade GNSS (Global Navigation Satellite System) signal…