相关论文: Online Learning for Ground Trajectory Prediction

Trajectory optimization methods have achieved an exceptional level of performance on real-world robots in recent years. These methods heavily rely on accurate analytical models of the dynamics, yet some aspects of the physical world can…

Modern machine learning uses more and more advanced optimization techniques to find optimal hyper parameters. Whenever the objective function is non-convex, non continuous and with potentially multiple local minima, standard gradient…

Modern mobile applications such as navigation services and ride-sharing platforms rely heavily on geospatial technologies, most critically predictions of the time required for a vehicle to traverse a particular route, or the so-called…

Take-off and landing are the periods of a flight where aircraft are most vulnerable to a ground based rocket attack by terrorists. While aircraft approach and depart from airports on pre-defined flight paths, there is a degree of…

This paper presents an expert-guided active-inference-inspired framework for adaptive UAV swarm trajectory planning. The proposed method converts multi-UAV trajectory design from a repeated combinatorial optimization problem into a…

To meet the requirements for managing unauthorized UAVs in the low-altitude economy, a multi-modal UAV trajectory prediction method based on the fusion of LiDAR and millimeter-wave radar information is proposed. A deep fusion network for…

To operate process engineering systems in a safe and reliable manner, predictive models are often used in decision making. In many cases, these are mechanistic first principles models which aim to accurately describe the process. In…

Recent spatio-temporal data applications, such as car-shar\-ing and smart cities, impose new challenges regarding the scalability and timeliness of data processing systems. Trajectory compression is a promising approach for scaling up…

With the rapid development of civil aviation and the significant improvement of people's living standards, taking an air plane has become a common and efficient way of travel. However, due to the flight characteris-tics of the aircraft and…

Legged locomotion is a complex control problem that requires both accuracy and robustness to cope with real-world challenges. Legged systems have traditionally been controlled using trajectory optimization with inverse dynamics. Such…

As deep neural networks are increasingly deployed in dynamic, real-world environments, relying on a single static model is often insufficient. Changes in input data distributions caused by sensor drift or lighting variations necessitate…

Legged robot locomotion requires the planning of stable reference trajectories, especially while traversing uneven terrain. The proposed trajectory optimization framework is capable of generating dynamically stable base and footstep…

This paper proposes a new driving style recognition approach that allows autonomous vehicles (AVs) to perform trajectory predictions for surrounding vehicles with minimal data. Toward that end, we use a hybrid of offline and online methods…

Models play an essential role in the design process of cyber-physical systems. They form the basis for simulation and analysis and help in identifying design problems as early as possible. However, the construction of models that comprise…

High-speed off-road autonomous driving presents unique challenges due to complex, evolving terrain characteristics and the difficulty of accurately modeling terrain-vehicle interactions. While dynamics models used in model-based control can…

We present online prediction methods for time series that let us explicitly handle nonstationary artifacts (e.g. trend and seasonality) present in most real time series. Specifically, we show that applying appropriate transformations to…

Predicting flight trajectories is a research area that holds significant merit. In this paper, we propose a data-driven learning framework, that leverages the predictive and feature extraction capabilities of the mixture models and…

Learning the dynamics of robots from data can help achieve more accurate tracking controllers, or aid their navigation algorithms. However, when the actual dynamics of the robots change due to external conditions, on-line adaptation of…

Back-propagation with gradient method is the most popular learning algorithm for feed-forward neural networks. However, it is critical to determine a proper fixed learning rate for the algorithm. In this paper, an optimized recursive…

Oilfield production optimization is challenging due to subsurface model complexity and associated non-linearity, large number of control parameters, large number of production scenarios, and subsurface uncertainties. Optimization involves…