Related papers: An Autonomous, End-to-End, Convex-Based Framework …
This paper investigates the joint optimization of trajectory planning and resource allocation for a high-altitude platform stations synthetic aperture radar (HAPs-SAR) system. To support real-time sensing and conserve the limited energy…
Future planetary exploration missions demand high-performance, fault-tolerant computing to enable autonomous Guidance, Navigation, and Control (GNC) and Lander Vision System (LVS) operations during Entry, Descent, and Landing (EDL). This…
In crowd navigation, the local goal plays a crucial role in trajectory initialization, optimization, and evaluation. Recognizing that when the global goal is distant, the robot's primary objective is avoiding collisions, making it less…
Rapid advances in perception have enabled large pre-trained models to be used out of the box for transforming high-dimensional, noisy, and partial observations of the world into rich occupancy representations. However, the reliability of…
Existing evaluation paradigms for Autonomous Vehicles (AVs) face critical limitations. Real-world evaluation is often challenging due to safety concerns and a lack of reproducibility, whereas closed-loop simulation can face insufficient…
Connected Autonomous Vehicles have great potential to improve automobile safety and traffic flow, especially in cooperative applications where perception data is shared between vehicles. However, this cooperation must be secured from…
Autonomous platforms operating in the oceans require accurate navigation to successfully complete their mission. In this regard, the initial heading estimation accuracy and the time required to achieve it play a critical role. The initial…
The robustness and accuracy of a vision system for motion estimation of a tumbling target satellite are enhanced by an adaptive Kalman filter. This allows a vision-guided robot to complete the grasping of the target even if occlusion occurs…
Perception is a critical component of high-integrity applications of robotics and autonomous systems, such as self-driving cars. In these applications, failure of perception systems may put human life at risk, and a broad adoption of these…
This research addresses critical autonomous vehicle control challenges arising from road roughness variation, which induces course deviations and potential loss of road contact during steering operations. We present a novel real-time road…
GipsyX/RTGx is the Jet Propulsion Laboratory's (JPL) next generation software package for positioning, navigation, timing, and Earth science using measurements from three geodetic techniques: Global Navigation Satellite Systems (GNSS),…
We study the nonlinear observability of a systems states in view of how well they are observable and what control inputs would improve the convergence of their estimates. We use these insights to develop an observability-aware…
Recent work has demonstrated real-time mapping and reconstruction from dense perception, while motion planning based on distance fields has been shown to achieve fast, collision-free motion synthesis with good convergence properties.…
Modular end-to-end (ME2E) autonomous driving paradigms combine modular interpretability with global optimization capability and have demonstrated strong performance. However, existing studies mainly focus on accuracy improvement, while…
For effective autonomous navigation,estimation of the pose of the robot is essential at every sampling time. For computing an accurate estimation,odometric error needs to be reduced with the help of data from external sensor. In this work,…
Learning contextual and spatial environmental representations enhances autonomous vehicle's hazard anticipation and decision-making in complex scenarios. Recent perception systems enhance spatial understanding with sensor fusion but often…
The rapid detection of abnormal body temperatures in urban populations is essential for managing public health risks, especially during outbreaks of infectious diseases. Multi-drone thermal screening systems offer promising solutions for…
We present a constrained motion control framework for a redundant surgical system designed for minimally invasive treatment of pelvic osteolysis. The framework comprises a kinematics model of a six Degrees-of-Freedom (DoF) robotic arm…
Many safety-critical systems must achieve high-level task specifications with guaranteed safety and correctness. Much recent progress towards this goal has been made through controller synthesis from temporal logic specifications. Existing…
Obstacle avoidance of polytopic obstacles by polytopic robots is a challenging problem in optimization-based control and trajectory planning. Many existing methods rely on smooth geometric approximations, such as hyperspheres or ellipsoids,…