Related papers: High-Density Automated Valet Parking with Relocati…
Parking guidance systems have recently become a popular trend as a part of the smart cities' paradigm of development. The crucial part of such systems is the algorithm allowing drivers to search for available parking lots across regions of…
Consistent maps are key for most autonomous mobile robots, and they often use SLAM approaches to build such maps. Loop closures via place recognition help to maintain accurate pose estimates by mitigating global drift, and are thus key for…
Rapidly-exploring random tree (RRT) has been applied for autonomous parking due to quickly solving high-dimensional motion planning and easily reflecting constraints. However, planning time increases by the low probability of extending…
Unmanned Aerial Vehicle (UAV) mounted Base Stations (UAV-BSs) provide flexible coverage for temporary hotspot scenarios; however, efficiently optimizing 3D deployment to satisfy heterogeneous user distributions remains a significant…
Automated parking requires accurate localization for quick and precise maneuvering in tight spaces. While the longitudinal velocity can be measured using wheel encoders, the estimation of the lateral velocity remains a key challenge due to…
The increasing number of vehicles highlights the need for efficient parking space management. Predicting real-time Parking Availability (PA) can help mitigate traffic congestion and the corresponding social problems, which is a pressing…
In this dissertation, we investigated and enhanced Deep Learning (DL) techniques for counting objects, like pedestrians, cells or vehicles, in still images or video frames. In particular, we tackled the challenge related to the lack of data…
Parking management systems, and vacancy-indication services in particular, can play a valuable role in reducing traffic and energy waste in large cities. Visual detection methods represent a cost-effective option, since they can take…
This paper presents a motion planning algorithm for quadruped locomotion based on density functions. We decompose the locomotion problem into a high-level density planner and a model predictive controller (MPC). Due to density functions…
We consider the problem of vehicle routing for Autonomous Mobility-on-Demand (AMoD) systems, wherein a fleet of self-driving vehicles provides on-demand mobility in a given environment. Specifically, the task it to compute routes for the…
Thanks to their fast delivery, reduced traffic restrictions, and low manpower need, drones have been increasingly deployed to deliver time-critical materials, such as medication, blood, and exam kits, in emergency situations. This paper…
Motion planning problems can be simplified by admissible projections of the configuration space to sequences of lower-dimensional quotient-spaces, called sequential simplifications. To exploit sequential simplifications, we present the…
This paper presents a novel method to generate spatial constraints for motion planning in dynamic environments. Motion planning methods for autonomous driving and mobile robots typically need to rely on the spatial constraints imposed by a…
Navigating through dense human crowds remains a significant challenge for mobile robots. A key issue is the freezing robot problem, where the robot struggles to find safe motions and becomes stuck within the crowd. To address this, we…
In collaborative human-robot order picking systems, human pickers and Autonomous Mobile Robots (AMRs) travel independently through a warehouse and meet at pick locations where pickers load items onto the AMRs. In this paper, we consider an…
This article presents a multi-robot trajectory planning method which not only guarantees optimization feasibility and but also resolves deadlocks in obstacle-dense environments. The method is proposed via formulating a recursive…
Autonomous valet parking is a specific application for autonomous vehicles. In this task, vehicles need to navigate in narrow, crowded and GPS-denied parking lots. Accurate localization ability is of great importance. Traditional…
Safe, socially compliant, and efficient navigation of low-speed autonomous vehicles (AVs) in pedestrian-rich environments necessitates considering pedestrians' future positions and interactions with the vehicle and others. Despite the…
In prioritized planning for vehicles, vehicles plan trajectories in parallel or in sequence. Parallel prioritized planning offers approximately consistent computation time regardless of the number of vehicles but struggles to guarantee…
Swarms of aerial drones have recently been considered for last-mile deliveries in urban logistics or automated construction. At the same time, collaborative transportation of payloads by multiple drones is another important area of recent…