Related papers: Collision Avoidance Safety Filter for an Autonomou…
Autonomous missions of small unmanned aerial vehicles (UAVs) are prone to collisions owing to environmental disturbances and localization errors. Consequently, a UAV that can endure collisions and perform recovery control in critical aerial…
Construction automation increasingly requires autonomous mobile robots, yet robust autonomy remains challenging on construction sites. These environments are dynamic and often visually occluded, which complicates perception and navigation.…
This paper proposes a new strategy for collision avoidance system leveraging Time-to-Collision (TTC) metrics for handling cut-in scenarios, which are particularly challenging for autonomous vehicles (AVs). By integrating a deep learning…
Safe autonomy is a critical requirement and a key enabler for robots to operate safely in unstructured complex environments. Control barrier functions and safe motion corridors are two widely used but technically distinct safety methods,…
Intentional or unintentional contacts are bound to occur increasingly more often due to the deployment of autonomous systems in human environments. In this paper, we devise methods to computationally predict imminent collisions between…
In this paper we present a novel method for obstacle avoidance using the stereo camera. The conventional obstacle avoidance methods and their limitations are discussed. A new algorithm is developed for the real-time obstacle avoidance which…
Aerial manipulation for safe physical interaction with their environments is gaining significant momentum in robotics research. In this paper, we present a disturbance-observer-based safety-critical control for a fully actuated aerial…
Accurate detection and classification of vulnerable road users is a safety critical requirement for the deployment of autonomous vehicles in heterogeneous traffic. Although similar in physical appearance to pedestrians, e-scooter riders…
Safe multi-agent coordination in uncertain environments can benefit from learning constraints from other agents. Implicitly communicating safety constraints through actions is a promising approach, allowing agents to coordinate and maintain…
As passenger vehicle technologies have advanced, so have their capabilities to avoid obstacles, especially with developments in tires, suspensions, steering, as well as safety technologies like ABS, ESC, and more recently, ADAS systems.…
Moving towards autonomy, unmanned vehicles rely heavily on state-of-the-art collision avoidance systems (CAS). However, the detection of obstacles especially during night-time is still a challenging task since the lighting conditions are…
Efficient navigation in dynamic environments is crucial for autonomous robots interacting with moving agents and static obstacles. We present a novel deep reinforcement learning approach that improves robot navigation and interaction with…
In this paper, we propose a novel predictive safety filter that is robust to bounded perturbations and is implemented in an even-triggered fashion to reduce online computation. The proposed safety filter extends upon existing work to reject…
By using various sensors to measure the surroundings and sharing local sensor information with the surrounding vehicles through wireless networks, connected and automated vehicles (CAVs) are expected to increase safety, efficiency, and…
This paper proposes a new algorithm for collision-free coverage control of multiple non-cooperating swarms in the presence of bounded disturbances. A new methodology is introduced that accounts for uncertainties in disturbance measurements.…
Autonomous emergency steering (AES) systems have the promising potential to further reduce traffic fatalities with other (potentially vulnerable) traffic participants by using relatively small lateral deviations to realize collision-free…
Motivated by earlier work and the developer of a new algorithm, the FollowerStopper, this article uses reachability analysis to verify the safety of the FollowerStopper algorithm, which is a controller designed for dampening stop- and-go…
Autonomous Cyber-Physical Systems (CPS) fuse proprioceptive sensors such as GPS and exteroceptive sensors including Light Detection and Ranging (LiDAR) and cameras for state estimation and environmental observation. It has been shown that…
Accurate perception of dynamic obstacles is essential for autonomous robot navigation in indoor environments. Although sophisticated 3D object detection and tracking methods have been investigated and developed thoroughly in the fields of…
This paper introduces a real-time Vehicle Collision Avoidance System (V-CAS) designed to enhance vehicle safety through adaptive braking based on environmental perception. V-CAS leverages the advanced vision-based transformer model RT-DETR,…