Related papers: A Geometric Analysis-Based Safety Assessment Frame…
Accurate mass estimation is essential for the safe and efficient operation of autonomous heavy-duty vehicles, particularly during transportation missions in unstructured environments such as mining sites, where vehicle mass can vary…
In the maritime sector, safe vessel navigation is of great importance, particularly in congested harbors and waterways. The focus of this work is to estimate the distance between an object of interest and potential obstacles using a…
In this paper, we propose a general graph optimization based framework for localization, which can accommodate different types of measurements with varying measurement time intervals. Special emphasis will be on range-based localization.…
Real-world autonomous vehicles often operate in a priori unknown environments. Since most of these systems are safety-critical, it is important to ensure they operate safely in the face of environment uncertainty, such as unseen obstacles.…
We present MOSU, a novel autonomous long-range navigation system that enhances global navigation for mobile robots through multimodal perception and on-road scene understanding. MOSU addresses the outdoor robot navigation challenge by…
Addressing the challenge of ensuring safety in ever-changing and unpredictable environments, particularly in the swiftly advancing realm of autonomous driving in today's 5G wireless communication world, we present Navigation Secure…
Autonomous navigation in unknown 3D environments is a key issue for intelligent transportation, while still being an open problem. Conventionally, navigation risk has been focused on mitigating collisions with obstacles, neglecting the…
This paper describes a novel framework for computing geodesic paths in shape spaces of spherical surfaces under an elastic Riemannian metric. The novelty lies in defining this Riemannian metric directly on the quotient (shape) space, rather…
In this paper, we address the real-time risk-bounded safety verification problem of continuous-time state trajectories of autonomous systems in the presence of uncertain time-varying nonlinear safety constraints. Risk is defined as the…
Reconfigurable intelligent surfaces (RISs) provide alternative routes for reflected signals to network users, offering numerous applications. This paper explores an innovative approach of strategically deploying RISs along road areas to…
Several external sources may change the river's geomorphology, hydrodynamic characteristics, and water quality. Therefore, having a comprehensive assessment of the rivers' hydrodynamic would bring the preliminary information to reduce the…
In this paper, we introduce a novel method for safe navigation in agricultural robotics. As global environmental challenges intensify, robotics offers a powerful solution to reduce chemical usage while meeting the increasing demands for…
General matrix multiplication (GEMM) on spatial accelerators is highly sensitive to mapping choices in both execution efficiency and energy consumption. However, the mapping space exhibits combinatorial explosion, which makes it extremely…
The design process and complexity of existing safety controls are heavily determined by the geometrical properties of the environment, which affects the proof of convergence, design scalability, performance robustness, and numerical…
Accurate vehicle trajectory prediction is essential for ensuring safety and efficiency in fully autonomous driving systems. While existing methods primarily focus on modeling observed motion patterns and interactions with other vehicles,…
Routing vessels through narrow and dynamic waterways is challenging due to changing environmental conditions and operational constraints. Existing vessel-routing studies typically fail to generalize across multiple origin-destination pairs…
Navigation and trajectorial estimation of maritime vessels are contingent upon the context of positional accuracy. Even the smallest deviations in the estimation of a given vessel may result in detrimental consequences in terms of economic…
Scene flow provides crucial motion information for autonomous driving. Recent LiDAR scene flow models utilize the rigid-motion assumption at the instance level, assuming objects are rigid bodies. However, these instance-level methods are…
Onboard terrain sensing and mapping for safe planetary landings often suffer from missed hazardous features, e.g., small rocks, due to the large observational range and the limited resolution of the obtained terrain data. To this end, this…
This work proposes a safety-critical local reactive controller that enables the robot to navigate in unknown and cluttered environments. In particular, the trajectory tracking task is formulated as a constrained polynomial optimization…