Related papers: Spatial-temporal risk field-based coupled dynamic-…
This paper proposes a momentum-constrained hybrid heuristic trajectory optimization framework (MHHTOF) tailored for assistive navigation in visually impaired scenarios, integrating trajectory sampling generation, optimization and evaluation…
This paper presents an integrated motion planning system for autonomous vehicle (AV) parking in the presence of other moving vehicles. The proposed system includes 1) a hybrid environment predictor that predicts the motions of the…
Connected and Automated Vehicles (CAVs) are envisioned to transform the future industrial and private transportation sectors. However, due to the system's enormous complexity, functional verification and validation of safety aspects are…
Recent advances in transformer-based lightweight object tracking have established new standards across benchmarks, leveraging the global receptive field and powerful feature extraction capabilities of attention mechanisms. Despite these…
We all depend on mobility, and vehicular transportation affects the daily lives of most of us. Thus, the ability to forecast the state of traffic in a road network is an important functionality and a challenging task. Traffic data is often…
This paper develops a sequencing-enabled hierarchical connected automated vehicle (CAV) cooperative on-ramp merging control framework. The proposed framework consists of a two-layer design: the upper level control sequences the vehicles to…
Safe robot motion generation is critical for practical applications from manufacturing to homes. In this work, we proposed a stochastic optimization-based motion generation method to generate collision-free and time-optimal motion for the…
Autonomous terrain traversal of articulated tracked robots can reduce operator cognitive load to enhance task efficiency and facilitate extensive deployment. We present a novel hybrid trajectory optimization method aimed at generating…
In recent years, ensuring safety, efficiency, and comfort in interactive autonomous driving has become a critical challenge. Traditional model-based techniques, such as game-theoretic methods and robust control, are often overly…
We introduce the Stochastic Correlated Obstacle Scene (SCOS) problem, a navigation setting with spatially correlated obstacles of uncertain blockage status, realistically constrained sensors that provide noisy readings and costly…
Human mobility patterns have shown significant applications in policy-decision scenarios and economic behavior researches. The human mobility simulation task aims to generate human mobility trajectories given a small set of trajectory data,…
The urban environment is amongst the most difficult domains for autonomous vehicles. The vehicle must be able to plan a safe route on challenging road layouts, in the presence of various dynamic traffic participants such as vehicles,…
In robotics, Learning from Demonstration (LfD) aims to transfer skills to robots by using multiple demonstrations of the same task. These demonstrations are recorded and processed to extract a consistent skill representation. This process…
Time-of-flight (ToF) distance measurement devices such as ultrasonics, LiDAR and radar are widely used in autonomous vehicles for environmental perception, navigation and assisted braking control. Despite their relative importance in making…
To plan the trajectories of a large-scale heterogeneous swarm, sequentially or synchronously distributed methods usually become intractable due to the lack of global clock synchronization. To this end, we provide a novel asynchronous…
For intelligent quadcopter UAVs, a robust and reliable autonomous planning system is crucial. Most current trajectory planning methods for UAVs are suitable for static environments but struggle to handle dynamic obstacles, which can pose…
This paper investigates continuous-time motion planning under Signal Temporal Logic (STL) specifications. The goal is to generate smooth robot trajectories that satisfy high-level logical and timing requirements while respecting low-level…
This paper proposes a unified control framework based on Response-Aware Risk-Constrained Control Barrier Function for dynamic safety boundary control of vehicles. Addressing the problem of physical model parameter mismatch, the framework…
Safety-guaranteed motion planning is critical for self-driving cars to generate collision-free trajectories. A layered motion planning approach with decoupled path and speed planning is widely used for this purpose. This approach is prone…
The recovery of 3D human mesh from monocular images has significantly been developed in recent years. However, existing models usually ignore spatial and temporal information, which might lead to mesh and image misalignment and temporal…