Related papers: Algorithmic Analysis of GTFS-RT vehicle position a…

Conventional trajectory planning approaches for autonomous vehicles often assume a fixed vehicle model that remains constant regardless of the vehicle's location. This overlooks the critical fact that the tires and the surface are the two…

We study the problem of recovering the relative positions of objects moving along the real line based only on pairwise collision data. While interaction-based sensing systems arise naturally in a variety of practical settings, a systematic…

We develop a system for real-time public transportation data, deciding to use the data standard GTFS-RT (GTFS Realtime), an open data format for public transit data. We give an overview of the design of a physical GPS sensor device, its…

Swept volume computation, the determination of regions occupied by moving objects, is essential in graphics, robotics, and manufacturing. Existing approaches either explicitly track surfaces, suffering from robustness issues under complex…

This paper presents a new approach for the automatic license plate recognition, which includes the SIFT algorithm in step to locate the plate in the input image. In this new approach, besides the comparison of the features obtained with the…

Localization in already mapped environments is a critical component in many robotics and automotive applications, where previously acquired information can be exploited along with sensor fusion to provide robust and accurate localization…

When a vehicle observes another one, the two vehicles' poses are correlated by this spatial relative observation, which can be used in cooperative localization for further increasing localization accuracy and precision. To use spatial…

We describe a generalised method for ellipsoid fitting against a minimum set of data points. The proposed method is numerically stable and applies to a wide range of ellipsoidal shapes, including highly elongated and arbitrarily oriented…

In this paper we consider the problem of coordinating autonomous vehicles approaching an intersection. We cast the problem in the distributed optimisation framework and propose an algorithm to solve it in real time. We extend previous work…

To operate reactively in uncertain environments, robots need to be able to quickly estimate the risk that they will collide with their environment. This ability is important for both planning (to ensure that plans maintain acceptable levels…

We propose an efficient Bayesian approach to infer a fault displacement from geodetic data in a slow slip event. Our physical model of the slip process reduces to a multiple linear regression subject to constraints. Assuming a Gaussian…

We address the problem of estimating the pose and shape of vehicles from LiDAR scans, a common problem faced by the autonomous vehicle community. Recent work has tended to address pose and shape estimation separately in isolation, despite…

Recently, round-trip time (RTT) measured by a fine-timing measurement protocol has received great attention in the area of WiFi positioning. It provides an acceptable ranging accuracy in favorable environments when a line-of-sight (LOS)…

This paper presents a prediction algorithm that estimates the vehicle trajectory every five milliseconds for an autonomous vehicle. A kinematic and a dynamic bicycle model are compared, with the dynamic model exhibiting superior accuracy at…

Positioning is a prominent field of study, notably focusing on Visual Inertial Odometry (VIO) and Simultaneous Localization and Mapping (SLAM) methods. Despite their advancements, these methods often encounter dead-reckoning errors that…

Multi robot systems have the potential to be utilized in a variety of applications. In most of the previous works, the trajectory generation for multi robot systems is implemented in known environments. To overcome that we present an online…

Detecting elliptical objects from an image is a central task in robot navigation and industrial diagnosis where the detection time is always a critical issue. Existing methods are hardly applicable to these real-time scenarios of limited…

Trajectory planning for multiple robots in shared environments is a challenging problem especially when there is limited communication available or no central entity. In this article, we present Real-time planning using Linear Spatial…

Estimating collision probabilities between robots and environmental obstacles or other moving agents is crucial to ensure safety during path planning. This is an important building block of modern planning algorithms in many application…

Trajectory replanning is a critical problem for multi-robot teams navigating dynamic environments. We present RLSS (Replanning using Linear Spatial Separations): a real-time trajectory replanning algorithm for cooperative multi-robot teams…