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On-road obstacle detection is an important field of research that falls in the scope of intelligent transportation infrastructure systems. The use of vision-based approaches results in an accurate and cost-effective solution to such…
Autonomous vehicles are increasingly deployed in safety-critical applications, where sensing failures or cyberphysical attacks can lead to unsafe operations resulting in human loss and/or severe physical damages. Reliable real-time…
Real-time perception and motion planning are two crucial tasks for autonomous driving. While there are many research works focused on improving the performance of perception and motion planning individually, it is still not clear how a…
Detecting small obstacles on the road ahead is a critical part of the driving task which has to be mastered by fully autonomous cars. In this paper, we present a method based on stereo vision to reliably detect such obstacles from a moving…
This paper proposes an active model-based fault and failure tolerant control scheme for a class of marine vehicles with thruster redundancy. Unlike widely used state and parameter estimation methods, where the estimation errors are utilized…
Time-to-collision (TTC) is a widely used measure for predicting rear-end collisions, assuming constant speed and heading for both vehicles in the prediction horizon. However, this conventional formulation cannot detect sideswipe collisions.…
The goal of this work is to make progress in the domain of near-wall velocimetry. The technique we use is based on the tracking of nanoparticles in an evanescent field, close to a wall, a technique called TIRF (Total Internal Reflection…
Perception within autonomous driving is nearly synonymous with Neural Networks (NNs). Yet, the domain of autonomous racing is often characterized by scaled, computationally limited robots used for cost-effectiveness and safety. For this…
Road boundaries, or curbs, provide autonomous vehicles with essential information when interpreting road scenes and generating behaviour plans. Although curbs convey important information, they are difficult to detect in complex urban…
This paper proposes a novel approach to real-time automatic rim detection, classification, and inspection by combining traditional computer vision and deep learning techniques. At the end of every automotive assembly line, a quality control…
Full-field traffic state information (i.e., flow, speed, and density) is critical for the successful operation of Intelligent Transportation Systems (ITS) on freeways. However, incomplete traffic information tends to be directly collected…
This paper presents a new approach to accurately simulating 3D overhead cranes with friction. Although nonlinear friction dynamics has a significant impact on these systems, accurately modeling this phenomenon in simulations is a…
Offroad vehicle movement has to contend with uneven and uncertain terrain which present challenges to path planning and motion control for both manned and unmanned ground vehicles. Knowledge of terrain properties can allow a vehicle to…
Autonomous driving models should ideally be evaluated by deploying them on a fleet of physical vehicles in the real world. Unfortunately, this approach is not practical for the vast majority of researchers. An attractive alternative is to…
Perception algorithms in autonomous vehicles are vital for the vehicle to understand the semantics of its surroundings, including detection and tracking of objects in the environment. The outputs of these algorithms are in turn used for…
Reliable detection and tracking of surrounding objects are indispensable for comprehensive motion prediction and planning of autonomous vehicles. Due to the limitations of individual sensors, the fusion of multiple sensor modalities is…
Autonomous driving systems require robust lane perception capabilities, yet existing vision-based detection methods suffer significant performance degradation when visual sensors provide insufficient cues, such as in occluded or…
Autonomous driving requires the model to perceive the environment and (re)act within a low latency for safety. While past works ignore the inevitable changes in the environment after processing, streaming perception is proposed to jointly…
Active collision avoidance system plays a crucial role in ensuring the lateral safety of autonomous vehicles, and it is primarily related to path planning and tracking control algorithms. In particular, the direct yaw-moment control (DYC)…
The presence of surface defects (roughness, surface imperfections, profiles, etc.) in a contact inevitably leads to the modification of its local properties, such as the coefficient of friction. In railway wheelsets, this surface condition…