Related papers: One-vs-one Threat-Aware Weaponeering with Basic En…

This paper develops a correct-by-design controller for an autonomous vehicle interacting with opponent vehicles with unknown intentions. We define an intention-aware control problem incorporating epistemic uncertainties of the opponent…

We consider the setting where a team of robots is tasked with tracking multiple targets with the following property: approaching the targets enables more accurate target position estimation, but also increases the risk of sensor failures.…

The interception of moving targets is a widely studied issue. In this paper, we propose an algorithm of intercepting the moving target with a wheeled mobile robot in a dynamic environment. We first predict the future position of the target…

A significant portion of roads, particularly in densely populated developing countries, lacks explicitly defined right-of-way rules. These understructured roads pose substantial challenges for autonomous vehicle motion planning, where…

Autonomous vehicles are suited for continuous area patrolling problems. Finding an optimal patrolling strategy can be challenging due to unknown environmental factors, such as wind or landscape; or autonomous vehicles' constraints, such as…

This paper proposes a novel monitoring methodology for car-following control of automated vehicles that uses real-time measurements of spacing and velocity obtained through vehicle sensors. This study focuses on monitoring the time gap, a…

State-of-the-art Vision-Language-Action (VLA) models excel at semantic generalization but struggle to generalize to unseen physical motions in novel environments. We introduce DreamZero, a World Action Model (WAM) built upon a pretrained…

Zero-shot object navigation (ZSON) in large-scale outdoor environments faces many challenges; we specifically address a coupled one: long-range targets that reduce to tiny projections and intermittent visibility due to partial or complete…

Determining the optimal cost function parameters of Model Predictive Control (MPC) to optimize multiple control objectives is a challenging and time-consuming task. Multiobjective Bayesian Optimization (BO) techniques solve this problem by…

This research aims at developing path and motion planning algorithms for a tethered Unmanned Aerial Vehicle (UAV) to visually assist a teleoperated primary robot in unstructured or confined environments. The emerging state of the practice…

Different applications, such as environmental monitoring and military operations, demand the observation of predefined target locations, and an autonomous mobile robot can assist in these tasks. In this context, the Orienteering Problem…

This paper presents adaptive event-triggered formation control strategies for autonomous vehicles (AVs) subject to longitudinal and lateral motion uncertainties. The proposed framework explores various vehicular formations to enable safe…

Evaluating the safety of an autonomous vehicle (AV) depends on the behavior of surrounding agents which can be heavily influenced by factors such as environmental context and informally-defined driving etiquette. A key challenge is in…

We introduce a problem in which a service vehicle seeks to guard a deadline (boundary) from dynamically arriving mobile targets. The environment is a rectangle and the deadline is one of its edges. Targets arrive continuously over time on…

This paper aims to put forward the concept that learning to take safe actions in unknown environments, even with probability one guarantees, can be achieved without the need for an unbounded number of exploratory trials, provided that one…

Wide-angle sonar mapping of the environment by mobile robot is nontrivial due to several sources of uncertainty: dropouts due to "specular" reflections, obstacle location uncertainty due to the wide beam, and distance measurement error.…

The advent of autonomous driving systems promises to transform transportation by enhancing safety, efficiency, and comfort. As these technologies evolve toward higher levels of autonomy, the need for integrated systems that seamlessly…

Continuum robots are well suited for navigating confined and fragile environments, such as vascular or endoluminal anatomy, where contact with surrounding structures is often unavoidable. While controlled contact can assist motion,…

Rendezvous aims at gathering all robots at a specific location, which is an important collaborative behavior for multi-robot systems. However, in an unknown environment, it is challenging to achieve rendezvous. Previous researches mainly…

In robotic systems, perception latency is a term that refers to the computing time measured from the data acquisition to the moment in which perception output is ready to be used to compute control commands. There is a compromise between…