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In this work, we consider a group of robots working together to manipulate a rigid object to track a desired trajectory in $SE(3)$. The robots do not know the mass or friction properties of the object, or where they are attached to the…
Modern unmanned systems, including aerial, terrestrial, and underwater vehicles, are increasingly utilized in dynamic and unpredictable environments, where the presence of modeling uncertainties necessitates the development of robust and…
Motion prediction for intelligent vehicles typically focuses on estimating the most probable future evolutions of a traffic scenario. Estimating the gap acceptance, i.e., whether a vehicle merges or crosses before another vehicle with the…
A reliable controller is critical for execution of safe and smooth maneuvers of an autonomous vehicle. The controller must be robust to external disturbances, such as road surface, weather, wind conditions, and so on. It also needs to deal…
This work proposes a coverage controller that enables an aerial team of distributed autonomous agents to collaboratively generate non-myopic coverage plans over a rolling finite horizon, aiming to cover specific points on the surface area…
This paper focuses on an adaptive and fault-tolerant vision-guided robotic system that enables to choose the most appropriate control action if partial or complete failure of the vision system in the short term occurs. Moreover, the…
We consider the problem of safe control in discrete autonomous agents that use learned components for imperfect perception (or more generally, state estimation) from high-dimensional observations. We propose a shield construction that…
Autonomous systems, like vehicles or robots, require reliable, accurate, fast, resource-efficient, scalable, and low-latency trajectory predictions to get initial knowledge about future locations and movements of surrounding objects for…
Evaluating the robustness of automated driving planners is a critical and challenging task. Although methodologies to evaluate vehicles are well established, they do not yet account for a reality in which vehicles with autonomous components…
Adaptive cruise control (ACC) vehicles are the first step toward comprehensive vehicle automation. However, the impacts of such vehicles on the underlying traffic flow are not yet clear. Therefore, it is of interest to accurately model…
Imitation learning is a promising approach for training autonomous vehicles (AV) to navigate complex traffic environments by mimicking expert driver behaviors. While existing imitation learning frameworks focus on leveraging expert…
Autonomous driving is an emerging technology that has advanced rapidly over the last decade. Modern transportation is expected to benefit greatly from a wise decision-making framework of autonomous vehicles, including the improvement of…
This paper focuses on the problem of detecting and reacting to changes in the distribution of a sensorimotor controller's observables. The key idea is the design of switching policies that can take conformal quantiles as input, which we…
This paper presents an adaptive leading cruise control strategy for the connected and automated vehicle (CAV) and first considers its impact on the following human-driven vehicle (HDV) with diverse driving characteristics in the unified…
Reliable uncertainty quantification in deep neural networks is very crucial in safety-critical applications such as automated driving for trustworthy and informed decision-making. Assessing the quality of uncertainty estimates is…
Adaptive Cruise Control ACC can change the speed of the ego vehicle to maintain a safe distance from the following vehicle automatically. The primary purpose of this research is to use cutting-edge computing approaches to locate and track…
Autonomous racing is a challenging problem, as the vehicle needs to operate at the friction or handling limits in order to achieve minimum lap times. Autonomous race cars require highly accurate perception, state estimation, planning and…
The thesis presents contributions made to the evaluation and design of a haptic guidance system on improving driving performance in cases of normal and degraded visual information, which are based on behavior experiments, modeling and…
Vehicle automation technology has made significant progress, laying the groundwork for a future of fully automated vehicles. This paper delves into the operation of connected and automated vehicles (CAVs). In prior work, we developed a…
We assume that autonomous or highly automated driving (AD) will be accompanied by tough assurance obligations exceeding the requirements of even recent revisions of ISO 26262 or SOTIF. Hence, automotive control and safety engineers have to…