Related papers: Online Slip Detection and Friction Coefficient Est…
We present a system for estimating the friction of the pavement surface at any curved road section, by arriving at a consensus estimate, based on data from vehicles that have recently passed through that section. This estimate can help…
This paper presents a novel monitoring framework that infers the level of collision risk for autonomous vehicles (AVs) based on their object detection performance. The framework takes two sets of predictions from different algorithms and…
Real-world evaluation of perception-based planning models for robotic systems, such as autonomous vehicles, can be safely and inexpensively conducted offline, i.e. by computing model prediction error over a pre-collected validation dataset…
We present a novel experimental platform that links topographical and material changes with the friction and wear behavior of oil-lubricated metal surfaces. This concept combines state-of-the-art methods for the analysis of the surface…
Traction parameters, that characterize the ground-wheel contact dynamics, are the central factor in the energy efficiency of vehicles. To optimize fuel consumption, reduce wear of tires, increase productivity etc., knowledge of current…
Tire mounted sensors are emerging as a promising technology, capable of providing information about important tire states. This paper presents a survey of the state-of-the-art in the field of smart tire technology, with a special focus on…
In autonomous racing, vehicles operate close to the limits of handling and a sensor failure can have critical consequences. To limit the impact of such failures, this paper presents the redundant perception and state estimation approaches…
Grasping objects whose physical properties are unknown is still a great challenge in robotics. Most solutions rely entirely on visual data to plan the best grasping strategy. However, to match human abilities and be able to reliably pick…
Scene flow provides crucial motion information for autonomous driving. Recent LiDAR scene flow models utilize the rigid-motion assumption at the instance level, assuming objects are rigid bodies. However, these instance-level methods are…
Accurate tire modeling is crucial for optimizing autonomous racing vehicles, as state-of-the-art (SotA) model-based techniques rely on precise knowledge of the vehicle's parameters. Yet, system identification in dynamic racing conditions is…
Incipient slip detection provides critical feedback for robotic grasping and manipulation tasks. However, maintaining its adaptability under diverse object properties and complex working conditions remains challenging. This article…
Safely handling objects and avoiding slippage are fundamental challenges in robotic manipulation, yet traditional techniques often oversimplify the issue by treating slippage as a binary occurrence. Our research presents a framework that…
Autonomous and semi-autonomous vehicles' perception algorithms can encounter situations with erroneous object detection, such as misclassification of objects on the road, which can lead to safety violations and potentially fatal…
Compensating for slip and skid is crucial for mobile robots navigating outdoor terrains. In these challenging environments, slipping and skidding introduce uncertainties into trajectory tracking systems, potentially compromising the safety…
Criticality metrics such as time-to-collision (TTC) quantify collision urgency but conflate the consequences of false-positive (FP) and false-negative (FN) perception errors. We propose two novel effort-based metrics: False Speed Reduction…
Information about the vehicle sideslip angle is crucial for the successful implementation of advanced stability control systems. In production vehicles, sideslip angle is difficult to measure within the desired accuracy level because of…
Slippery road conditions pose significant challenges for autonomous driving. Beyond predicting road grip, it is crucial to estimate its uncertainty reliably to ensure safe vehicle control. In this work, we benchmark several uncertainty…
It is common to utilise dynamic models to measure the tyre-road friction in real-time. Alternatively, predictive approaches estimate the tyre-road friction by identifying the environmental factors affecting it. This work aims to formulate…
The concept of intelligent tires has drawn attention of researchers in the areas of autonomous driving, advanced vehicle control, and artificial intelligence. The focus of this paper is on intelligent tires and the application of machine…
Modern railway traction systems are often equipped with anti-slip control strategies to comply with performance and safety requirements. A certain amount of slip is needed to increase the torque transferred by the traction motors onto the…