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Lane change is a very demanding driving task and number of traffic accidents are induced by mistaken maneuvers. An automated lane change system has the potential to reduce driver workload and to improve driving safety. One challenge is how…
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…
One of the major challenges of a real-time autonomous robotic system for construction monitoring is to simultaneously localize, map, and navigate over the lifetime of the robot, with little or no human intervention. Past research on…
Autonomous mobile manipulation robots that can collect trolleys are widely used to liberate human resources and fight epidemics. Most prior robotic trolley collection solutions only detect trolleys with 2D poses or are merely based on…
Fully automated vehicles will require new functionalities for perception, navigation and decision making -- an Autonomous Driving Intelligence (ADI). We consider architectural cases for such functionalities and investigate how they…
Autonomous navigation guided by natural language instructions is essential for improving human-robot interaction and enabling complex operations in dynamic environments. While large language models (LLMs) are not inherently designed for…
Large language models (LLMs) excel in open domains but struggle in specialized settings with limited data and evolving knowledge. Existing domain adaptation practices rely heavily on manual trial-and-error processes, incur significant…
The development of Autonomous Vehicles (AVs) has redefined the way of transportation by eliminating the need for human intervention in driving. This revolution is fueled by rapid advancements in adaptive cruise control (ACC), which make AVs…
Drift control is significant to the safety of autonomous vehicles when there is a sudden loss of traction due to external conditions such as rain or snow. It is a challenging control problem due to the presence of significant sideslip and…
Construction safety inspection remains mostly manual, and automated approaches still rely on task-specific datasets that are hard to maintain in fast-changing construction environments due to frequent retraining. Meanwhile, field inspection…
The advent of edge devices dedicated to machine learning tasks enabled the execution of AI-based applications that efficiently process and classify the data acquired by the resource-constrained devices populating the Internet of Things. The…
Autonomous aerial delivery vehicles have gained significant interest in the last decade. This has been enabled by technological advancements in aerial manipulators and novel grippers with enhanced force to weight ratios. Furthermore,…
Motion planning at urban intersections that accounts for the situation context, handles occlusions, and deals with measurement and prediction uncertainty is a major challenge on the way to urban automated driving. In this work, we address…
Accurate motion forecasting is crucial for safe autonomous driving (AD). This study proposes CoT-Drive, a novel approach that enhances motion forecasting by leveraging large language models (LLMs) and a chain-of-thought (CoT) prompting…
Motivated by the rapid development of autonomous vehicle technology, this work focuses on the challenges of introducing them in ride-hailing platforms with conventional strategic human drivers. We consider a ride-hailing platform that…
Adaptive structures are equipped with sensors and actuators to actively counteract external loads such as wind. This can significantly reduce resource consumption and emissions during the life cycle compared to conventional structures. A…
A new framework is developed for control of constrained nonlinear systems with structured parametric uncertainties. Forward invariance of a safe set is achieved through online parameter adaptation and data-driven model estimation. The new…
A quadruped robot faces balancing challenges on a six-degrees-of-freedom moving platform, like subways, buses, airplanes, and yachts, due to independent platform motions and resultant diverse inertia forces on the robot. To alleviate these…
With the increasing complexity of modern industrial automatic and robotic systems, an increasing burden is put on the operators, who are requested to supervise and interact with such complex systems, typically under challenging and…
Already today, driver assistance systems help to make daily traffic more comfortable and safer. However, there are still situations that are quite rare but are hard to handle at the same time. In order to cope with these situations and to…