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Stability is a fundamental notion in dynamical systems and control theory that, traditionally understood, describes asymptotic behavior of solutions around an equilibrium point. This notion may be characterized abstractly as continuity of a…
Ensuring the functional safety of motion planning modules in autonomous vehicles remains a critical challenge, especially when dealing with complex or learning-based software. Online verification has emerged as a promising approach to…
We say that an algorithm is stable if small changes in the input result in small changes in the output. This kind of algorithm stability is particularly relevant when analyzing and visualizing time-varying data. Stability in general plays…
The availability of devices that track moving objects has led to an explosive growth in trajectory data. When exploring the resulting large trajectory collections, visual summaries are a useful tool to identify time intervals of interest. A…
Large-scale multi-session LiDAR mapping is essential for a wide range of applications, including surveying, autonomous driving, crowdsourced mapping, and multi-agent navigation. However, existing approaches often struggle with data…
Online map generation and trajectory prediction are critical components of the autonomous driving perception-prediction-planning pipeline. While modern vectorized mapping models achieve high geometric accuracy, they typically treat map…
As Autonomous Driving Systems (ADS) progress towards commercial deployment, there is an increasing focus on ensuring their safety and reliability. While considerable research has been conducted on testing methods for detecting faults in…
Mobility-as-a-Service (MaaS) systems are two-sided markets, with two mutually exclusive sets of agents, i.e., travelers/users and operators, forming a mobility ecosystem in which multiple operators compete or cooperate to serve customers…
Maritime Autonomous Surface Ships (MASS) have emerged as a promising solution to enhance navigational safety, operational efficiency, and long-term cost effectiveness. However, their reliable deployment requires rigorous verification and…
With the increased dependence on software, there is a pressing need for engineering long-lived software. As architectures have a profound effect on the life-span of the software and the provisioned quality of service, stable architectures…
Lane topology reasoning techniques play a crucial role in high-definition (HD) mapping and autonomous driving applications. While recent years have witnessed significant advances in this field, there has been limited effort to consolidate…
Safe autonomous navigation is an essential and challenging problem for robots operating in highly unstructured or completely unknown environments. Under these conditions, not only robotic systems must deal with limited localisation…
Recent strides in pretrained transformer-based language models have propelled state-of-the-art performance in numerous NLP tasks. Yet, as these models grow in size and deployment, their robustness under input perturbations becomes an…
Real-time safety assessment (RTSA) of dynamic systems is a critical task that has significant implications for various fields such as industrial and transportation applications, especially in non-stationary environments. However, the…
Metric ground navigation addresses the problem of autonomously moving a robot from one point to another in an obstacle-occupied planar environment in a collision-free manner. It is one of the most fundamental capabilities of intelligent…
Autonomous vehicles rely on detailed and accurate environmental information to operate safely. High definition (HD) maps offer a promising solution, but their high maintenance cost poses a significant barrier to scalable deployment. This…
When deploying autonomous systems in unknown and changing environments, it is critical that their motion planning and control algorithms are computationally efficient and can be reapplied online in real time, whilst providing theoretical…
Accurate environmental representations are essential for autonomous driving, providing the foundation for safe and efficient navigation. Traditionally, high-definition (HD) maps are providing this representation of the static road…
Constructing online High-Definition (HD) maps is crucial for the static environment perception of autonomous driving systems (ADS). Existing solutions typically attempt to detect vectorized HD map elements with unified models; however,…
Multi-sensor fusion models play a crucial role in autonomous driving perception, particularly in tasks like 3D object detection and HD map construction. These models provide essential and comprehensive static environmental information for…