相关论文: A Real-Time Spatial Index for In-Vehicle Units

The article presents a framework for the resolution of rich vehicle routing problems which are difficult to address with standard optimization techniques. We use local search on the basis on variable neighborhood search for the construction…

Diverse types of edge data, such as 2D geo-locations and 3D point clouds, are collected by sensors like lidar and GPS receivers on edge devices. On-device searches, such as k-nearest neighbor (kNN) search and radius search, are commonly…

This work addresses the challenge of developing a localization system for an uncrewed ground vehicle (UGV) operating autonomously in unstructured outdoor Global Navigation Satellite System (GNSS)-denied environments. The goal is to enable…

We present a robust control and estimation framework for quadrotors operating in Global Navigation Satellite System(GNSS)-denied, non-inertial environments where inertial sensors such as Inertial Measurement Units (IMUs) become unreliable…

We investigate the autonomous navigation of a mobile robot in the presence of other moving vehicles under time-varying uncertain environmental disturbances. We first predict the future state distributions of other vehicles to account for…

To plan the trajectories of a large-scale heterogeneous swarm, sequentially or synchronously distributed methods usually become intractable due to the lack of global clock synchronization. To this end, we provide a novel asynchronous…

We present a terrain traversability mapping and navigation system (TNS) for autonomous excavator applications in an unstructured environment. We use an efficient approach to extract terrain features from RGB images and 3D point clouds and…

In this paper, we propose a tightly-coupled SLAM system fused with RGB, Depth, IMU and structured plane information. Traditional sparse points based SLAM systems always maintain a mass of map points to model the environment. Huge number of…

The rapid advancement of autonomous systems, including self-driving vehicles and drones, has intensified the need to forge true Spatial Intelligence from multi-modal onboard sensor data. While foundation models excel in single-modal…

A common approach for modeling the environment of an autonomous vehicle are dynamic occupancy grid maps, in which the surrounding is divided into cells, each containing the occupancy and velocity state of its location. Despite the advantage…

We consider the coordinated vehicle platooning problem on a tree network with time constraints while the routes of vehicles are given. The problem is to coordinate the departure time of each vehicle to enable platoon formation hence…

This paper presents a vehicle-independent, non-intrusive, and light monitoring system for accurately measuring fuel consumption in road vehicles from longitudinal speed and acceleration derived continuously in time from GNSS and IMU sensors…

This article presents a three-dimensional nonlinear trajectory tracking control strategy for unmanned aerial vehicles (UAVs) in the presence of spatial constraints. As opposed to many existing control strategies, which do not consider…

Segmenting unseen object instances in cluttered environments is an important capability that robots need when functioning in unstructured environments. While previous methods have exhibited promising results, they still tend to provide…

Safe autonomous navigation in a priori unknown environments is an essential skill for mobile robots to reliably and adaptively perform diverse tasks (e.g., delivery, inspection, and interaction) in unstructured cluttered environments.…

Autonomous driving systems have achieved significant advances, and full autonomy within defined operational design domains near practical deployment. Expanding these domains requires addressing safety assurance under diverse conditions.…

Pedestrian Indoor localization based on modalities available in modern smartphones have been widely studied in literature and many of the specific challenges have been addressed. However, very few approaches consider the whole problem and…

In order to maximize detection precision rate as well as the recall rate, this paper proposes an in-vehicle multi-source fusion scheme in Keyword Spotting (KWS) System for vehicle applications. Vehicle information, as a new source for the…

In embodied vision, Instance ImageGoal Navigation (IIN) requires an agent to locate a specific object depicted in a goal image within an unexplored environment. The primary challenge of IIN arises from the need to recognize the target…

Connected and cooperative driving requires precise calibration of the roadside infrastructure for having a reliable perception system. To solve this requirement in an automated manner, we present a robust extrinsic calibration method for…