Related papers: Teleoperation Operational Design Domain based on M…
For the offline safety assessment of automated vehicles, the most challenging and critical scenarios must be identified efficiently. Therefore, we present a new approach to define challenging scenarios based on a sensor setup model of the…
Fault detection is essential in complex industrial systems to prevent failures and optimize performance by distinguishing abnormal from normal operating conditions. With the growing availability of condition monitoring data, data-driven…
This paper presents the design of a research platform for autonomous driving applications, the Delft's Autonomous-driving Robotic Testbed (DART). Our goal was to design a small-scale car-like robot equipped with all the hardware needed for…
Efficient scalability of automated driving (AD) is key to reducing costs, enhancing safety, conserving resources, and maximizing impact. However, research focuses on specific vehicles and context, while broad deployment requires scalability…
Mobile ad hoc networking (MANET) is a growing technology that can support the operation of adaptive wireless networks. With the increased demand rate of wireless applications it is useful to have more adaptive and self organizing…
We propose MMD-OPT: a sample-efficient approach for minimizing the risk of collision under arbitrary prediction distribution of the dynamic obstacles. MMD-OPT is based on embedding distribution in Reproducing Kernel Hilbert Space (RKHS) and…
This study investigates disengagements of Remote Driving Systems (RDS) based on interventions by an in-vehicle Safety Drivers (SD) in real-world Operational Design Domains (ODD) with a focus on Remote Driver (RD) performance during their…
Autonomous off-road driving is challenging as risky actions taken by the robot may lead to catastrophic damage. As such, developing controllers in simulation is often desirable as it provides a safer and more economical alternative.…
Out of the many deep reinforcement learning approaches for autonomous driving, only few make use of the options (or skills) framework. That is surprising, as this framework is naturally suited for hierarchical control applications in…
With the continuous advancement of robot teleoperation technology, shared control is used to reduce the physical and mental load of the operator in teleoperation system. This paper proposes an alternating shared control framework for object…
We present a coarse-to-fine approach based semi-autonomous teleoperation system using vision guidance. The system is optimized for long range teleoperation tasks under time-delay network conditions and does not require prior knowledge of…
An optimal randomized strategy for design of balanced, normalized mass transport plans is developed. It replaces -- but specializes to -- the deterministic, regularized optimal transport (OT) strategy, which yields only a…
A novel local trajectory planner, capable of controlling an autonomous off-road vehicle on rugged terrain at high-speed is presented. Autonomous vehicles are currently unable to safely operate off-road at high-speed, as current approaches…
Motion planning for autonomous driving (AD) faces a critical trade-off. While traditional rule-based pipelines offer verifiable safety and interpretability, they often fail to generalize in complex scenarios. Conversely, emerging…
Autonomous Mobility-on-Demand (AMoD) systems are an evolving mode of transportation in which a centrally coordinated fleet of self-driving vehicles dynamically serves travel requests. The control of these systems is typically formulated as…
Teleoperation platforms often require the user to be situated at a fixed location to both visualize and control the movement of the robot and thus do not provide the operator with much mobility. One example is in existing robotic surgery…
Remote teleoperation of robots can broaden the reach of domain specialists across a wide range of industries such as home maintenance, health care, light manufacturing, and construction. However, current direct control methods are…
Autonomous vehicle platforms of varying spatial scales are employed within the research and development spectrum based on space, safety and monetary constraints. However, deploying and validating autonomy algorithms across varying…
The advance towards higher levels of automation within the field of automated driving is accompanied by increasing requirements for the operational safety of vehicles. Induced by the limitation of computational resources, trade-offs between…
This paper issues an integrated control system of self-driving autonomous vehicles based on the personal driving preference to provide personalized comfortable driving experience to autonomous vehicle users. We propose an Occupant's…