相关论文: Application of Evidential Reasoning to Helicopter …

Although neural networks have seen tremendous success as predictive models in a variety of domains, they can be overly confident in their predictions on out-of-distribution (OOD) data. To be viable for safety-critical applications, like…

As mobile robots are increasingly deployed in human environments, enabling them to predict how people perceive them is critical for socially adaptable navigation. Predicting perceptions is challenging for two main reasons: (1) HRI…

Large Language Models (LLMs) have exhibited remarkable capabilities in many complex tasks including mathematical reasoning. However, traditional approaches heavily rely on ensuring self-consistency within single prompting method, which…

Advanced Air Mobility (AAM) is a growing field that demands accurate and trustworthy models of legal concepts and restrictions for navigating Unmanned Aircraft Systems (UAS). In addition, any implementation of AAM needs to face the…

While Vision-Language Models (VLMs) are set to transform robotic navigation, existing methods often underutilize their reasoning capabilities. To unlock the full potential of VLMs in robotics, we shift their role from passive observers to…

Computational guidance is an emerging and accelerating trend in aerospace guidance and control. Combining machine learning and convex optimization, this paper presents a real-time computational guidance method for the 6-degrees-of-freedom…

This work proposes a nonlinear model predictive control-based guidance strategy for unmanned surface vehicles, focused on path following. The application of this strategy, in addition to overcome drawbacks of previous line-of-sight-based…

The introduction of highly automated vehicles on the public road may improve safety and comfort, although its success will depend on social acceptance. This requires trajectory planning methods that provide safe, proactive, and comfortable…

Recent advances in trajectory replanning have enabled quadrotor to navigate autonomously in unknown environments. However, high-speed navigation still remains a significant challenge. Given very limited time, existing methods have no strong…

In recent years, there has been an increased need for the use of active systems - systems required to act automatically based on events, or changes in the environment. Such systems span many areas, from active databases to applications that…

Explaining how to get from A to B can be challenging. It requires mentally simulating what the listener will do based on what they are told. To capture this process, we propose a computational model that converts utterances into action…

Recently, there has been immense interest in using unmanned aerial vehicles (UAVs) for civilian operations. As a result, unmanned aerial systems traffic management is needed to ensure the safety and goal satisfaction of potentially…

Lane segment topology reasoning provides comprehensive bird's-eye view (BEV) road scene understanding, which can serve as a key perception module in planning-oriented end-to-end autonomous driving systems. Existing lane topology reasoning…

Although planning is a crucial component of the autonomous driving stack, researchers have yet to develop robust planning algorithms that are capable of safely handling the diverse range of possible driving scenarios. Learning-based…

In recent times, an increasing number of researchers have been devoted to utilizing deep neural networks for end-to-end flight navigation. This approach has gained traction due to its ability to bridge the gap between perception and…

Situational awareness, the capacity of an AI system to recognize its own nature, understand its training and deployment context, and reason strategically about its circumstances, is widely considered among the most dangerous emergent…

Evidence of jet precession in many galactic and extragalactic sources has been reported in the literature. Much of this evidence is based on studies of the kinematics of the jet knots, which depends on the correct identification of the…

Multi-phase trajectories of aerospace vehicle systems involve multiple flight segments whose transitions may be triggered by boolean logic in continuous state variables, control and time. When the boolean logic is represented using only…

Accurate and robust state estimation is critical for autonomous navigation of robot teams. This task is especially challenging for large groups of size, weight, and power (SWAP) constrained aerial robots operating in perceptually-degraded…

Precise motion control of underactuated surface vessels is a crucial task in various maritime applications. In this work, we develop a nonlinear motion control strategy for surface vessels inspired by the pursuit guidance philosophy. Any…