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End-to-end autonomous driving has emerged as a compelling alternative to traditional modular pipelines by directly mapping raw sensor data to driving actions. While recent approaches achieve strong performance on single-domain datasets,…

Safe overtaking, especially in a bidirectional mixed-traffic setting, remains a key challenge for Connected Autonomous Vehicles (CAVs). The presence of human-driven vehicles (HDVs), behavior unpredictability, and blind spots resulting from…

In this paper, we propose a cost-effective strategy for heterogeneous UAV swarm systems for cooperative aerial inspection. Unlike previous swarm inspection works, the proposed method does not rely on precise prior knowledge of the…

An occlusion based strategy for collective transport of a concave object using a swarm of mobile robots has been proposed in this paper. We aim to overcome the challenges of transporting concave objects using decentralized approach. The…

Modern unmanned systems, including aerial, terrestrial, and underwater vehicles, are increasingly utilized in dynamic and unpredictable environments, where the presence of modeling uncertainties necessitates the development of robust and…

In this paper we propose a distributed model predictive control architecture to coordinate the longitudinal motion of a vehicle platoon at a signalized intersection. Our control approach is cooperative; we use vehicle-to-vehicle (V2V)…

The reliability and transmission distance are generally limited for the wireless communications due to the severe channel fading. As an effective way to resist the channel fading, cooperative relaying is usually adopted in wireless networks…

Collaborative heterogeneous robot systems can greatly improve the efficiency of target search and navigation tasks. In this paper, we design a heterogeneous robot system consisting of a UAV and a UGV for search and rescue missions in…

This work proposes provably-correct self-organizing strategies for platoons of heterogeneous vehicles. We refer to self-organization as the capability of a platoon to autonomously homogenize to a common group behavior. We show that…

In the near future, more and more machines will perform tasks in the vicinity of human spaces or support them directly in their spatially bound activities. In order to simplify the verbal communication and the interaction between robotic…

The ability to predict the future movements of other vehicles is a subconscious and effortless skill for humans and key to safe autonomous driving. Therefore, trajectory prediction for autonomous cars has gained a lot of attention in recent…

We consider the problem of cooperative motion coordination for multiple heterogeneous mobile vehicles subject to various constraints. These include nonholonomic motion constraints, constant speed constraints, holonomic coordination…

Trajectory prediction is a fundamental technology for advanced autonomous driving systems and represents one of the most challenging problems in the field of cognitive intelligence. Accurately predicting the future trajectories of each…

As the potential for autonomous vehicles to be integrated on a large scale into modern traffic systems continues to grow, ensuring safe navigation in dynamic environments is crucial for smooth integration. To guarantee safety and prevent…

We focus on human-robot collaborative transport, in which a robot and a user collaboratively move an object to a goal pose. In the absence of explicit communication, this problem is challenging because it demands tight implicit coordination…

This paper presents a novel control strategy to herd a group of non-cooperative evaders by means of a team of robotic herders. In herding problems, the motion of the evaders is typically determined by strong nonlinear reactive dynamics,…

Coordination behavior in robot swarms is inherently multi-modal in nature. That is, there are numerous ways in which a swarm of robots can avoid inter-agent collisions and reach their respective goals. However, the problem of generating…

As drones increasingly deliver packages in neighborhoods, concerns about collisions arise. One solution is to share flight paths within a specific zip code, but this compromises business privacy by revealing delivery routes. For example, it…

Currently, autonomous vehicles are able to drive more naturally based on the driving policies learned from millions of driving miles in real environments. However, to further improve the automation level of vehicles is a challenging task,…

Human trajectory anomaly detection has become increasingly important across a wide range of applications, including security surveillance and public health. However, existing trajectory anomaly detection methods are primarily focused on…