相关论文: Velocity Selection for High-Speed UGVs in Rough Un…

In this paper, we propose a new class of Control Barrier Functions (CBFs) for Unmanned Ground Vehicles (UGVs) that help avoid collisions with kinematic (non-zero velocity) obstacles. While the current forms of CBFs have been successful in…

Accurate trajectory prediction is crucial for autonomous driving, yet uncertainty in agent behavior and perception noise makes it inherently challenging. While multi-modal trajectory prediction models generate multiple plausible future…

We propose a new method for autonomous navigation in uneven terrains by utilizing a sparse Gaussian Process (SGP) based local perception model. The SGP local perception model is trained on local ranging observation (pointcloud) to learn the…

A key challenge in off-road navigation is that even visually similar terrains or ones from the same semantic class may have substantially different traction properties. Existing work typically assumes no wheel slip or uses the expected…

Multimodal foundation models offer promising advancements for enhancing driving perception systems, but their high computational and financial costs pose challenges. We develop a method that leverages foundation models to refine predictions…

In recent years, unmanned aerial vehicles (UAVs) are used for numerous inspection and video capture tasks. Manually controlling UAVs in the vicinity of obstacles is challenging, however, and poses a high risk of collisions. Even for…

In this article, a simplified modeling and system identification procedure for yaw motion of an unmanned surface vehicle (USV) is presented. Two thrusters that allow for both speed and direction control propel the USV. The outputs of the…

This paper introduces an innovative application of foundation models, enabling Unmanned Ground Vehicles (UGVs) equipped with an RGB-D camera to navigate to designated destinations based on human language instructions. Unlike learning-based…

Predicting the motion of a driver's vehicle is crucial for advanced driving systems, enabling detection of potential risks towards shared control between the driver and automation systems. In this paper, we propose a variational neural…

Predicting the behaviour (i.e., manoeuvre/trajectory) of other road users, including vehicles, is critical for the safe and efficient operation of autonomous vehicles (AVs), a.k.a., automated driving systems (ADSs). Due to the uncertain…

Recently worldwide interest is growing toward commercial, military or scientific Unmanned Surface Vehicle (USV) and hence there is required to develop their guidance, navigation, and control (GNC) systems. Real USVs are a relatively new…

Traversability estimation in rugged, unstructured environments remains a challenging problem in field robotics. Often, the need for precise, accurate traversability estimation is in direct opposition to the limited sensing and compute…

Unmanned aerial vehicle (UAV) use continues to increase, including operating beyond line of sight in unknown environments where the vehicle must autonomously generate a trajectory to safely navigate. In this article, we develop a trajectory…

A smart Unmanned Ground Vehicle (UGV) is designed and developed for some application specific missions to operate predominantly in hazardous environments. In our work, we have developed a small and lightweight vehicle to operate in general…

Scene understanding and risk-aware attentions are crucial for human drivers to make safe and effective driving decisions. To imitate this cognitive ability in urban autonomous driving while ensuring the transparency and interpretability, we…

Navigating off-road with a fast autonomous vehicle depends on a robust perception system that differentiates traversable from non-traversable terrain. Typically, this depends on a semantic understanding which is based on supervised learning…

Path planning is crucial for the navigation of autonomous vehicles, yet these vehicles face challenges in complex and real-world environments. Although a global view may be provided, it is often outdated, necessitating the reliance of…

Today, low-altitude fixed-wing Unmanned Aerial Vehicles (UAVs) are largely limited to primitively follow user-defined waypoints. To allow fully-autonomous remote missions in complex environments, real-time environment-aware navigation is…

Inter prediction is a key technology to reduce the temporal redundancy in video coding. In natural videos, there are usually multiple moving objects with variable velocity, resulting in complex motion fields that are difficult to represent…

Unmanned Surface Vehicles (USVs) are pivotal in marine exploration, but their sensors' accuracy is compromised by the dynamic marine environment. Traditional calibration methods fall short in these conditions. This paper introduces a deep…