Related papers: Teleoperation Operational Design Domain based on M…
Efficient and intuitive Human-Robot interfaces are crucial for expanding the user base of operators and enabling new applications in critical areas such as precision agriculture, automated construction, rehabilitation, and environmental…
Creating accurate spatial representations that take into account uncertainty is critical for autonomous robots to safely navigate in unstructured environments. Although recent LIDAR based mapping techniques can produce robust occupancy…
Teleoperation can be very difficult due to limited perception, high communication latency, and limited degrees of freedom (DoFs) at the operator side. Autonomous teleoperation is proposed to overcome this difficulty by predicting user…
Autonomous vehicles need to plan at the task level to compute a sequence of symbolic actions, such as merging left and turning right, to fulfill people's service requests, where efficiency is the main concern. At the same time, the vehicles…
The Internet of Drones (IoD) is a layered network control architecture designed mainly for coordinating the access of unmanned aerial vehicles to controlled airspace, and providing navigation services between locations referred to as nodes.…
Mobile manipulators can be used for machine tending and material handling tasks in small volume manufacturing applications. These applications usually have semi-structured work environment. The use of a fully autonomous mobile manipulator…
This paper aims to implement Object-Oriented Markov Decision Process (OO-MDPs) for goal planning and navigation of robot in an indoor environment. We use the OO-MDP representation of the environment which is a natural way of modeling the…
Automated vehicles need to be aware of the capabilities they currently possess. Skill graphs are directed acylic graphs in which a vehicle's capabilities and the dependencies between these capabilities are modeled. The skills a vehicle…
This paper addresses the challenging problem of enabling reliable immersive teleoperation in scenarios where an Unmanned Aerial Vehicle (UAV) is remotely controlled by an operator via a cellular network. Such scenarios can be quite critical…
The paper addresses the problem of providing suitable reference trajectories in motion planning problems for autonomous vehicles. Among the various approaches to compute a reference trajectory, our aim is to find those trajectories which…
Modern AI techniques open up ever-increasing possibilities for autonomous vehicles, but how to appropriately verify the reliability of such systems remains unclear. A common approach is to conduct safety validation based on a predefined…
We describe the computing tasks involved in autonomous driving, examine existing autonomous driving computing platform implementations. To enable autonomous driving, the computing stack needs to simultaneously provide high performance, low…
Teleoperation provides human operator sophisticated perceptual and cognitive skills into an over the network control loop. It gives hope of addressing some challenges related to vehicular autonomy which is based on artificial intelligence…
Trajectory prediction is central to the safe and seamless operation of autonomous vehicles (AVs). In deployment, however, prediction models inevitably face distribution shifts between training data and real-world conditions, where rare or…
Soft robotics holds tremendous potential for various applications, especially in unstructured environments such as search and rescue operations. However, the lack of autonomy and teleoperability, limited capabilities, absence of gait…
Our goal is to perform out-of-distribution (OOD) detection, i.e., to detect when a robot is operating in environments drawn from a different distribution than the ones used to train the robot. We leverage Probably Approximately Correct…
Reachability-based Trajectory Design (RTD) is a provably safe, real-time trajectory planning framework that combines offline reachable-set computation with online trajectory optimization. However, standard RTD implementations suffer from…
To operate with limited sensor horizons in unpredictable environments, autonomous robots use a receding-horizon strategy to plan trajectories, wherein they execute a short plan while creating the next plan. However, creating safe,…
Autonomous vehicles (AV) look set to become common on our roads within the next few years. However, to achieve the final breakthrough, not only functional progress is required, but also satisfactory safety assurance must be provided. Among…
The operational capabilities and application domains of AI-enabled autonomous systems have expanded significantly in recent years due to advances in robotics and machine learning (ML). Demonstrating the safety of autonomous systems…