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For safe operation, a robot must be able to avoid collisions in uncertain environments. Existing approaches for motion planning under uncertainties often assume parametric obstacle representations and Gaussian uncertainty, which can be…

The force transmitted from the front tires and tie rods to the steering rack of a vehicle, called the rack force, significantly influences the torque experienced by a driver at the steering wheel. As a result, estimates of rack force are…

Characterizing the risk of operations is a fundamental requirement in robotics, and a crucial ingredient of safe planning. The problem is multifaceted, with multiple definitions arising in the vast recent literature fitting different…

This work aims to present a three-dimensional vehicle dynamics state estimation under varying signal quality. Few researchers have investigated the impact of three-dimensional road geometries on the state estimation and, thus, neglect road…

Traffic conflict detection is essential for proactive road safety by identifying potential collisions before they occur. Existing methods rely on surrogate safety measures tailored to specific interactions (e.g., car-following,…

Image segmentation is a critical step in computational biomedical image analysis, typically evaluated using metrics like the Dice coefficient during training and validation. However, in clinical settings without manual annotations,…

As robots are being increasingly used in close proximity to humans and objects, it is imperative that robots operate safely and efficiently under real-world conditions. Yet, the environment is seldom known perfectly. Noisy sensors and…

This paper presents a fully unsupervised approach for binary road segmentation (road vs. non-road), eliminating the reliance on costly manually labeled datasets. The method leverages scene geometry and temporal cues to distinguish road from…

Uncertainty estimation plays an important role for future reliable deployment of deep segmentation models in safety-critical scenarios such as medical applications. However, existing methods for uncertainty estimation have been limited by…

As autonomous vehicles continue to revolutionize transportation, addressing challenges posed by adverse weather conditions, particularly during winter, becomes paramount for ensuring safe and efficient operations. One of the most important…

This paper presents a method for pose estimation of off-road vehicles moving over uneven terrain. It determines the contact points between the wheels and the terrain, assuming rigid contacts between an arbitrary number of wheels and ground.…

This research addresses critical autonomous vehicle control challenges arising from road roughness variation, which induces course deviations and potential loss of road contact during steering operations. We present a novel real-time road…

Robotic capacities in object manipulation are incomparable to those of humans. Besides years of learning, humans rely heavily on the richness of information from physical interaction with the environment. In particular, tactile sensing is…

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…

This paper proposes a model to estimate the probability of a vehicle reaching a near-term goal state using one or multiple lane changes based on parameters corresponding to traffic conditions and driving behavior. The proposed model not…

In this article we study the problem of quantifying the uncertainty in an experiment with a technical system. We propose new density estimates which combine observed data of the technical system and simulated data from an (imperfect)…

Conformal Prediction methods have finite-sample distribution-free marginal coverage guarantees. However, they generally do not offer conditional coverage guarantees, which can be important for high-stakes decisions. In this paper, we…

Predicting the motion of dynamic agents is a critical task for guaranteeing the safety of autonomous systems. A particular challenge is that motion prediction algorithms should obey dynamics constraints and quantify prediction uncertainty…

We propose a deep convolutional object detector for automated driving applications that also estimates classification, pose and shape uncertainty of each detected object. The input consists of a multi-layer grid map which is well-suited for…

Object detection in autonomous cars is commonly based on camera images and Lidar inputs, which are often used to train prediction models such as deep artificial neural networks for decision making for object recognition, adjusting speed,…