Related papers: AutoInspect: Towards Long-Term Autonomous Industri…
Robot deployment in realistic dynamic environments is a challenging problem despite the fact that robots can be quite skilled at a large number of isolated tasks. One reason for this is that robots are rarely equipped with powerful…
Search-based software testing (SBT) is an effective and efficient approach for testing automated driving systems (ADS). However, testing pipelines for ADS testing are particularly challenging as they involve integrating complex driving…
In this paper, we present our software sensor fusion framework for self-driving cars and other autonomous robots. We have designed our framework as a universal and scalable platform for building up a robust 3D model of the agent's…
Self-powered intermittent systems typically adopt runtime checkpointing as a means to accumulate computation progress across power cycles and recover system status from power failures. However, existing approaches based on the checkpointing…
This paper presents the development of a fully autonomous delivery robot integrating mechanical engineering, embedded systems, and artificial intelligence. The platform employs a heterogeneous computing architecture, with RPi 5 and ROS 2…
Autonomous applications are typically developed over Robot Operating System 2.0 (ROS2) even in time-critical systems like automotive. Recent years have seen increased interest in developing model-based timing analysis and schedule…
Autonomous vehicle safety and reliability are the paramount requirements when developing autonomous vehicles. These requirements are guaranteed by massive functional and performance tests. Conducting these tests on real vehicles is…
Known attempts to build autonomous robots rely on complex control architectures, often implemented with the Robot Operating System platform (ROS). Runtime adaptation is needed in these systems, to cope with component failures and with…
In recent years, control under urban intersection scenarios becomes an emerging research topic. In such scenarios, the autonomous vehicle confronts complicated situations since it must deal with the interaction with social vehicles timely…
The use of Autonomous Surface Vehicles, equipped with water quality sensors and artificial vision systems, allows for a smart and adaptive deployment in water resources environmental monitoring. This paper presents a real implementation of…
We introduce and open-source the Unified Autonomy Stack, a system-level solution that enables resilient autonomy across diverse aerial and ground robot morphologies. The architecture centers on three synergistic modules -- multi-modal…
This paper presents a fully autonomous robotic system that performs sim-to-real transfer in complex long-horizon tasks involving navigation, recognition, grasping, and stacking in an environment with multiple obstacles. The key feature of…
Autonomous driving testing increasingly relies on mining safety critical scenarios from large scale naturalistic driving data, yet existing screening pipelines still depend on manual risk annotation and expensive frame by frame risk…
Autonomous systems must sustain justified confidence in their correctness and safety across their operational lifecycle-from design and deployment through post-deployment evolution. Traditional assurance methods often separate…
This paper proposes a novel approach by integrating sensor fusion with deep reinforcement learning, specifically the Soft Actor-Critic (SAC) algorithm, to develop an optimal control policy for self-driving cars. Our system employs a…
The limited onboard energy of autonomous mobile robots poses a tremendous challenge for practical deployment. Hence, efficient computing solutions are imperative. A crucial shortcoming of state-of-the-art computing solutions is that they…
Reliable detection and tracking of surrounding objects are indispensable for comprehensive motion prediction and planning of autonomous vehicles. Due to the limitations of individual sensors, the fusion of multiple sensor modalities is…
The use of robotics in humanitarian demining increasingly involves computer vision techniques to improve landmine detection capabilities. However, in the absence of diverse and realistic datasets, the reliable validation of algorithms…
Autonomous driving has attracted tremendous attention especially in the past few years. The key techniques for a self-driving car include solving tasks like 3D map construction, self-localization, parsing the driving road and understanding…
Autonomous robots used in infrastructure inspection, space exploration and other critical missions operate in highly dynamic environments. As such, they must continually verify their ability to complete the tasks associated with these…