相关论文: A Complexity Indicator for 4D Flight Trajectories …
This study explores the applicability of a graph-based interaction-aware trajectory prediction model, originally developed for the transportation domain, to forecast particle trajectories in three-dimensional discrete element simulations.…
Trajectory prediction plays a crucial role in the autonomous driving stack by enabling autonomous vehicles to anticipate the motion of surrounding agents. Goal-based prediction models have gained traction in recent years for addressing the…
This paper develops a real-time, search-based aircraft contingency landing planner that minimizes traffic disruptions while accounting for ground risk. The airspace model captures dense air traffic departure and arrival flows, helicopter…
As the potential for autonomous vehicles to be integrated on a large scale into modern traffic systems continues to grow, ensuring safe navigation in dynamic environments is crucial for smooth integration. To guarantee safety and prevent…
We present Model Predictive Planning (MPP), a trajectory planner for low-agility vehicles such as a fixed-wing aircraft to navigate obstacle-laden environments. MPP consists of (1) a multi-path planning procedure that identifies candidate…
Trajectory prediction in a cluttered environment is key to many important robotics tasks such as autonomous navigation. However, there are an infinite number of possible trajectories to consider. To simplify the space of trajectories under…
Perceived risk is crucial in designing trustworthy and acceptable vehicle automation systems. However, our understanding of its dynamics is limited, and models for perceived risk dynamics are scarce in the literature. This study formulates…
Projection methods are popular algorithms for iteratively solving feasibility problems in Euclidean or even Hilbert spaces. They employ (selections of) nearest point mappings to generate sequences that are designed to approximate a point in…
Future urban transportation concepts include a mixture of ground and air vehicles with varying degrees of autonomy in a congested environment. In such dynamic environments, occupancy maps alone are not sufficient for safe path planning.…
This study proposes a new automated strategy for designing and optimizing three-dimensional interplanetary low-thrust (LT) trajectories. The method formulates the design as a hybrid optimal control problem and solves it using a two-step…
This article addresses the obstacle avoidance problem for setpoint stabilization and path-following tasks in complex dynamic 2D environments that go beyond conventional scenes with isolated convex obstacles. A combined motion planner and…
Despite their abundance in robotics and nature, underactuated systems remain a challenge for control engineering. Trajectory optimization provides a generally applicable solution, however its efficiency strongly depends on the skill of the…
This is a chapter in the Encyclopedia of Robotics. It is devoted to the study of complexity of complete (or exact) algorithms for robot motion planning. The term ``complete'' indicates that an approach is guaranteed to find the correct…
Planes are familiar mathematical objects which lie at the subtle boundary between continuous geometry and discrete combinatorics. A plane is geometrical, certainly, but the ways that two planes can interact break cleanly into discrete sets:…
Due to the advent of new mobile devices and tracking sensors in recent years, huge amounts of data are being produced every day. Therefore, novel methodologies need to emerge that dive through this vast sea of information and generate…
Complex patterns generated by the time evolution of a one-dimensional digitalized coupled map lattice are quantitatively analyzed. A method for discerning complexity among the different patterns is implemented. The quantitative results…
This paper leverages linear systems theory to propose a principled measure of complexity for network systems. We focus on a network of first-order scalar linear systems interconnected through a directed graph. By locally filtering out the…
Accurate multi-step flight trajectory prediction plays an important role in Air Traffic Control, which can ensure the safety of air transportation. Two main issues limit the flight trajectory prediction performance of existing works. The…
Temporal graphs arise when modeling interactions that evolve over time. They usually come in several flavors, depending on the number of parameters used to describe the temporal aspects of the interactions: time of appearance, duration,…
Complexity measures are essential to understand complex systems and there are numerous definitions to analyze one-dimensional data. However, extensions of these approaches to two or higher-dimensional data, such as images, are much less…