Related papers: Intent-aligned Autonomous Spacecraft Guidance via …
This work develops a unified nonlinear estimation-guidance-control framework for cooperative simultaneous interception of a stationary target under a heterogeneous sensing topology, where sensing capabilities are non-uniform across…
Self-driving vehicles must be able to act intelligently in diverse and difficult environments, marked by high-dimensional state spaces, a myriad of optimization objectives and complex behaviors. Traditionally, classical optimization and…
Understanding and modeling buyer intent is a foundational challenge in optimizing search query reformulation within the dynamic landscape of e-commerce search systems. This work introduces a robust data pipeline designed to mine and analyze…
Recent advances in trajectory prediction have shown that explicit reasoning about agents' intent is important to accurately forecast their motion. However, the current research activities are not directly applicable to intelligent and…
Embodied navigation requires agents to integrate perception, reasoning, and action for robust interaction in complex 3D environments. Existing approaches often suffer from incoherent and unstable reasoning traces that hinder generalization…
This paper studies the integrated spacecraft routing and trajectory optimization problem for satellite servicing missions involving partial en-route propellant replenishment. Unlike terrestrial routing problems, spacecraft operate in a…
Human awareness in robot motion planning is crucial for seamless interaction with humans. Many existing techniques slow down, stop, or change the robot's trajectory locally to avoid collisions with humans. Although using the information on…
Pedestrian intention and trajectory prediction are critical for the safe deployment of autonomous driving systems, directly influencing navigation decisions in complex traffic environments. Recent advances in large vision-language models…
The current Air Traffic Management (ATM) system worldwide has reached its limits in terms of predictability, efficiency and cost effectiveness. Different initiatives worldwide propose trajectory-oriented transformations that require high…
For safe and efficient planning and control in autonomous driving, we need a driving policy which can achieve desirable driving quality in long-term horizon with guaranteed safety and feasibility. Optimization-based approaches, such as…
Efficient behavior and trajectory planning is one of the major challenges for automated driving. Especially intersection scenarios are very demanding due to their complexity arising from the variety of maneuver possibilities and other…
To improve safety and energy efficiency, autonomous vehicles are expected to drive smoothly in most situations, while maintaining their velocity below a predetermined speed limit. However, some scenarios such as low road adherence or…
Goal-conditioned policies, such as those learned via imitation learning, provide an easy way for humans to influence what tasks robots accomplish. However, these robot policies are not guaranteed to execute safely or to succeed when faced…
Trajectory optimization is a cornerstone of modern robot autonomy, enabling systems to compute trajectories and controls in real-time while respecting safety and physical constraints. However, it has seen limited usage in spaceflight…
This work is devoted to generating optimal guidance commands in real time for attitude-constrained solar sailcrafts in coplanar circular-to-circular interplanetary transfers. Firstly, a nonlinear optimal control problem is established, and…
Shared control in teleoperation for providing robot assistance to accomplish object manipulation, called telemanipulation, is a new promising yet challenging problem. This has unique challenges--on top of teleoperation challenges in…
Human-AI joint planning in Unmanned Aerial Vehicles (UAVs) typically relies on control handover when facing environmental uncertainties, which is often inefficient and cognitively demanding for non-expert operators. To address this, we…
The multiple spacecraft guidance problem for proximity flight in libration point orbit is considered. A nonlinear optimal control problem with continuous-time path constraints enforcing minimum separation between each spacecraft is…
In shared autonomy, a user and autonomous system work together to achieve shared goals. To collaborate effectively, the autonomous system must know the user's goal. As such, most prior works follow a predict-then-act model, first predicting…
Collision-tolerant trajectory planning is the consideration that collisions, if they are planned appropriately, enable more effective path planning for robots capable of handling them. A mixed integer programming (MIP) optimization…