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In the area of learning-driven artificial intelligence advancement, the integration of machine learning (ML) into self-driving (SD) technology stands as an impressive engineering feat. Yet, in real-world applications outside the confines of…
We propose a method to tackle the problem of mapless collision-avoidance navigation where humans are present using 2D laser scans. Our proposed method uses ego-safety to measure collision from the robot's perspective while social-safety to…
Due to the complexity of the natural world, a programmer cannot foresee all possible situations, a connected and autonomous vehicle (CAV) will face during its operation, and hence, CAVs will need to learn to make decisions autonomously. Due…
When a vehicle drives on the road, its behaviors will be affected by surrounding vehicles. Prediction and decision should not be considered as two separate stages because all vehicles make decisions interactively. This paper constructs the…
Event-triggered communication and control provide high control performance in networked control systems without overloading the communication network. However, most approaches require precise mathematical models of the system dynamics,…
Powered by deep representation learning, reinforcement learning (RL) provides an end-to-end learning framework capable of solving self-driving (SD) tasks without manual designs. However, time-varying nonstationary environments cause…
Traditional decision and planning frameworks for self-driving vehicles (SDVs) scale poorly in new scenarios, thus they require tedious hand-tuning of rules and parameters to maintain acceptable performance in all foreseeable cases.…
Reinforcement learning has received high research interest for developing planning approaches in automated driving. Most prior works consider the end-to-end planning task that yields direct control commands and rarely deploy their algorithm…
Visual navigation tasks in real-world environments often require both self-motion and place recognition feedback. While deep reinforcement learning has shown success in solving these perception and decision-making problems in an end-to-end…
Supervised learning is widely used in training autonomous driving vehicle. However, it is trained with large amount of supervised labeled data. Reinforcement learning can be trained without abundant labeled data, but we cannot train it in…
Self-navigation in non-coordinating crowded environments is formidably challenging within multi-agent systems consisting of non-holonomic robots operating through local sensing. Our primary objective is the development of a novel, rapid,…
Robotic agents must adopt existing social conventions in order to be effective teammates. These social conventions, such as driving on the right or left side of the road, are arbitrary choices among optimal policies, but all agents on a…
Deep Reinforcement Learning has been successfully applied in various computer games [8]. However, it is still rarely used in real-world applications, especially for the navigation and continuous control of real mobile robots [13]. Previous…
Simulation environments are good for learning different driving tasks like lane changing, parking or handling intersections etc. in an abstract manner. However, these simulation environments often restrict themselves to operate under…
Autonomous lane changing is a critical feature for advanced autonomous driving systems, that involves several challenges such as uncertainty in other driver's behaviors and the trade-off between safety and agility. In this work, we develop…
Autonomous driving has gained significant advancements in recent years. However, obtaining a robust control policy for driving remains challenging as it requires training data from a variety of scenarios, including rare situations (e.g.,…
Effectively utilizing the vast amounts of ego-centric navigation data that is freely available on the internet can advance generalized intelligent systems, i.e., to robustly scale across perspectives, platforms, environmental conditions,…
Numerous past works have tackled the problem of task-driven navigation. But, how to effectively explore a new environment to enable a variety of down-stream tasks has received much less attention. In this work, we study how agents can…
Existing autonomous robot navigation systems allow robots to move from one point to another in a collision-free manner. However, when facing new environments, these systems generally require re-tuning by expert roboticists with a good…
The skill to drift a car--i.e., operate in a state of controlled oversteer like professional drivers--could give future autonomous cars maximum flexibility when they need to retain control in adverse conditions or avoid collisions. We…