Related papers: Intent-aligned Autonomous Spacecraft Guidance via …
An intent modelling and inference framework is presented to assist the defense planning for protecting a geo-fence against unauthorized flights. First, a novel mathematical definition for the intent of an uncrewed aircraft system (UAS) is…
While end-to-end autonomous driving has achieved remarkable progress in geometric control, current systems remain constrained by a command-following paradigm that relies on simple navigational instructions. Transitioning to genuinely…
Aerial robots can enhance construction site productivity by autonomously handling inspection and mapping tasks. However, ensuring safe navigation near human workers remains challenging. While navigation in static environments has been well…
Accurate trajectory prediction of road agents (e.g., pedestrians, vehicles) is an essential prerequisite for various intelligent systems applications, such as autonomous driving and robotic navigation. Recent research highlights the…
Autonomous target tracking with quadrotors has wide applications in many scenarios, such as cinematographic follow-up shooting or suspect chasing. Target motion prediction is necessary when designing the tracking planner. However, the…
Accurately predicting the trajectory of surrounding vehicles is a critical challenge for autonomous vehicles. In complex traffic scenarios, there are two significant issues with the current autonomous driving system: the cognitive…
Object-goal visual navigation requires robots to reason over semantic structure and act effectively under partial observability. Recent approaches based on object-level topological maps enable long-horizon navigation without dense geometric…
In mobile robot shared control, effectively understanding human motion intention is critical for seamless human-robot collaboration. This paper presents a novel shared control framework featuring planning-level intention prediction. A path…
The booming air transportation industry inevitably burdens air traffic controllers' workload, causing unexpected human factor-related incidents. Current air traffic control systems fail to consider spoken instructions for traffic…
We propose a Deep RObust Goal-Oriented trajectory prediction Network (DROGON) for accurate vehicle trajectory prediction by considering behavioral intentions of vehicles in traffic scenes. Our main insight is that the behavior (i.e.,…
This paper develops a correct-by-design controller for an autonomous vehicle interacting with opponent vehicles with unknown intentions. We define an intention-aware control problem incorporating epistemic uncertainties of the opponent…
Predicting driver intentions is a difficult and crucial task for advanced driver assistance systems. Traditional confidence measures on predictions often ignore the way predicted trajectories affect downstream decisions for safe driving. In…
Understanding why a spacecraft maneuvers -- rather than simply that it did -- is an increasingly important problem for space domain awareness as Earth orbits grow crowded and contested. Current analysis pipelines are built for detection:…
Accurately predicting the possible behaviors of traffic participants is an essential capability for future autonomous vehicles. The majority of current researches fix the number of driving intentions by considering only a specific scenario.…
This paper describes a novel method for allowing an autonomous ground vehicle to predict the intent of other agents in an urban environment. This method, termed the cognitive driving framework, models both the intent and the potentially…
Ships, or vessels, often sail in and out of cluttered environments over the course of their trajectories. Safe navigation in such cluttered scenarios requires an accurate estimation of the intent of neighboring vessels and their effect on…
This paper presents the use of robust model predictive control for the design of an intent-aware collision avoidance system for multi-agent aircraft engaged in horizontal maneuvering scenarios. We assume that information from other agents…
Vessel trajectory prediction is fundamental to intelligent maritime systems. Within this domain, short-term prediction of rapid behavioral changes in complex maritime environments has established multimodal trajectory prediction (MTP) as a…
In light of growing attention of intelligent vehicle systems, we propose developing a driver model that uses a hybrid system formulation to capture the intent of the driver. This model hopes to capture human driving behavior in a way that…
Autonomous aircraft must safely operate in non-towered airspace, where coordination relies on voice-based communication among human pilots. Safe operation requires an aircraft to predict the intent, and corresponding goal location, of other…