相关论文: Observable dynamics and coordinate systems for aut…

In this paper, we consider the problem of controlling an underactuated system in unknown, and potentially adversarial environments. The emphasis will be on autonomous aerial vehicles, modelled by Dubins dynamics. The proposed control law is…

In the real world, robots with embodiment face various issues such as dynamic continuous changes of the environment and input/output disturbances. The key to solving these issues can be found in daily life; people `do actions associated…

In the rapidly evolving field of autonomous driving, reliable prediction is pivotal for vehicular safety. However, trajectory predictions often deviate from actual paths, particularly in complex and challenging environments, leading to…

This article develops variational integrators for a class of underactuated mechanical systems using the theory of discrete mechanics. Further, a discrete optimal control problem is formulated for the considered class of systems and…

We consider a single kinematically controlled robot with a bounded control range. The robot travels in a two-dimensional region supporting an unknown unsteady scalar field. A single sensor provides the field value at the current location of…

Advanced end-to-end autonomous driving systems predict other vehicles' motions and plan ego vehicle's trajectory. The world model that can foresee the outcome of the trajectory has been used to evaluate the autonomous driving system.…

Advanced traffic navigation systems, which provide routing recommendations to drivers based on real-time congestion information, are nowadays widely adopted by roadway transportation users. Yet, the emerging effects on the traffic dynamics…

In this paper, We study the problem of learning a controllable representation for high-dimensional observations of dynamical systems. Specifically, we consider a situation where there are multiple sets of observations of dynamical systems…

Rapid advancements in driver-assistance technology will lead to the integration of fully autonomous vehicles on our roads that will interact with other road users. To address the problem that driverless vehicles make interaction through eye…

This paper introduces an attacking mechanism to challenge the resilience of autonomous driving systems. Specifically, we manipulate the decision-making processes of an autonomous vehicle by dynamically displaying adversarial patches on a…

There is considerable evidence that deep neural networks are vulnerable to adversarial perturbations applied directly to their digital inputs. However, it remains an open question whether this translates to vulnerabilities in real systems.…

As road transportation has been identified as a major contributor of environmental pollution, motivating individuals to adopt a more eco-friendly driving style could have a substantial ecological as well as financial benefit. With…

No human drives a car in a vacuum; she/he must negotiate with other road users to achieve their goals in social traffic scenes. A rational human driver can interact with other road users in a socially-compatible way through implicit…

Autonomous driving consists of a multitude of interacting modules, where each module must contend with errors from the others. Typically, the motion prediction module depends upon a robust tracking system to capture each agent's past…

In this paper, optical target tracking, by regular target bearing measurements and target range in a lower and scheduled measurement rate is considered. Variance of the target range estimation error is used as scheduling criterion. For this…

This is the second part of four series papers, aiming at the problem of sensor dynamics compensation for abstract linear systems. Two major issues are addressed. The first one is about the sensor dynamics compensation in system observation…

We develop a dynamical systems approach to prioritizing and selecting multiple recurring tasks with the aim of conferring a degree of deliberative goal selection to a mobile robot confronted with competing objectives. We take navigation as…

Recently, template-based trackers have become the leading tracking algorithms with promising performance in terms of efficiency and accuracy. However, the correlation operation between query feature and the given template only exploits…

The rising popularity of driver-less cars has led to the research and development in the field of autonomous racing, and overtaking in autonomous racing is a challenging task. Vehicles have to detect and operate at the limits of dynamic…

This paper investigates the coordinated trajectory tracking problem of multiple vertical takeooff and landing (VTOL) unmanned aerial vehicles (UAVs). The case of unidirectional information flow is considered and the objective is to drive…