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Mixed traffic flow consisting of vehicles equipped with adaptive cruise control (ACC) and manually driven vehicles is analyzed using car-following simulations. Unlike simulations that show suppression of jams due to increased string…
This research introduces two efficient methods to estimate the collision risk of planned trajectories in autonomous driving under uncertain driving conditions. Deterministic collision checks of planned trajectories are often inaccurate or…
In recent years, great efforts have been devoted to deep imitation learning for autonomous driving control, where raw sensory inputs are directly mapped to control actions. However, navigating through densely populated intersections remains…
Autonomous navigation in maritime domains is accelerating alongside advances in artificial intelligence, sensing, and connectivity. Opaque decision-making and poorly calibrated human-automation interaction remain key barriers to safe…
The hydrodynamic performance of a sea-going ship varies over its lifespan due to factors like marine fouling and the condition of the anti-fouling paint system. In order to accurately estimate the power demand and fuel consumption for a…
In mobile robot navigation, despite advancements, the generation of optimal paths often disrupts pedestrian areas. To tackle this, we propose three key contributions to improve human-robot coexistence in shared spaces. Firstly, we have…
We propose factor graph optimization for simultaneous planning, control, and trajectory estimation for collision-free navigation of autonomous systems in environments with moving objects. The proposed online probabilistic motion planning…
In high-density environments where numerous autonomous agents move simultaneously in a distributed manner, streamlining global flows to mitigate local congestion is crucial to maintain overall navigation efficiency. This paper introduces a…
Illegal fishing is prevalent throughout the world and heavily impacts the health of our oceans, the sustainability and profitability of fisheries, and even acts to destabilize geopolitical relations. To achieve the United Nations'…
This paper presents a unified and scalable framework for predictive and safe autonomous navigation in dynamic transportation environments by integrating model predictive control (MPC) with distributed Koopman operator learning.…
Intelligent devices for supporting persons with vision impairment are becoming more widespread, but they are lacking behind the advancements in intelligent driver assistant system. To make a first step forward, this work discusses the…
Detecting marine objects inshore presents challenges owing to algorithmic intricacies and complexities in system deployment. We propose a difficulty-aware edge-cloud collaborative sensing system that splits the task into object localization…
Navigating an environment with uncertain connectivity requires a strategic balance between minimizing the cost of traversal and seeking information to resolve map ambiguities. Unlike previous approaches that rely on local sensing, we…
Optimization-based methods are widely used for computing fast, diverse solutions for complex tasks such as collision-free movement or planning in the presence of contacts. However, most of these methods require enforcing non-penetration…
Data association in SLAM is fundamentally challenging, and handling ambiguity well is crucial to achieve robust operation in real-world environments. When ambiguous measurements arise, conservatism often mandates that the measurement is…
Traversability estimation in off-road terrains is an essential procedure for autonomous navigation. However, creating reliable labels for complex interactions between the robot and the surface is still a challenging problem in…
The harsh ocean environment and complex operating condition require high dynamic positioning (DP) capability of offshore vessel. The design, development and performance evaluation of DP system are generally carried out by numerical…
The prosperity of artificial intelligence has aroused intensive interests in intelligent/autonomous navigation, in which path prediction is a key functionality for decision supports, e.g. route planning, collision warning, and traffic…
The efficiency of current cargo screening processes at sea and air ports is unknown as no benchmarks exists against which they could be measured. Some manufacturer benchmarks exist for individual sensors but we have not found any benchmarks…
In this paper, we introduce the Semantic Environment Atlas (SEA), a novel mapping approach designed to enhance visual navigation capabilities of embodied agents. The SEA utilizes semantic graph maps that intricately delineate the…