相关论文: Belief State Planning for Autonomously Navigating …

Lane changing and lane merging remains a challenging task for autonomous driving, due to the strong interaction between the controlled vehicle and the uncertain behavior of the surrounding traffic participants. The interaction induces a…

As autonomous vehicles (AVs) inch closer to reality, a central requirement for acceptance will be earning the trust of humans in everyday driving situations. In particular, the interaction between AVs and pedestrians is of high importance,…

We investigate the problem of coordinating human-driven vehicles in road intersections without any traffic lights or signs by issuing speed advices. The vehicles in the intersection are assumed to move along an a priori known path and to be…

Autonomous Vehicles navigating in urban areas have a need to understand and predict future pedestrian behavior for safer navigation. This high level of situational awareness requires observing pedestrian behavior and extrapolating their…

Partially Observable Markov Decision Processes (POMDPs) provide a rich framework for sequential decision-making under uncertainty in stochastic domains. However, solving a POMDP is often intractable except for small problems due to their…

Searching for objects in cluttered environments requires selecting efficient viewpoints and manipulation actions to remove occlusions and reduce uncertainty in object locations, shapes, and categories. In this work, we address the problem…

The increasing use of autonomous robot systems in hazardous environments underscores the need for efficient search and rescue operations. Despite significant advancements, existing literature on object search often falls short in overcoming…

This paper is concerned with planning in stochastic domains by means of partially observable Markov decision processes (POMDPs). POMDPs are difficult to solve. This paper identifies a subclass of POMDPs called region observable POMDPs,…

Navigating safely in urban environments remains a challenging problem for autonomous vehicles. Occlusion and limited sensor range can pose significant challenges to safely navigate among pedestrians and other vehicles in the environment.…

The safety concern for unmanned systems, namely the concern for the potential casualty caused by system abnormalities, has been a bottleneck for their development, especially in populated areas. Evidently, the collision between the unmanned…

Autonomous Vehicles are currently being tested in a variety of scenarios. As we move towards Autonomous Vehicles, how should intersections look? To answer that question, we break down an intersection management into the different conundrums…

In robotic insertion tasks where the uncertainty exceeds the allowable tolerance, a good search strategy is essential for successful insertion and significantly influences efficiency. The commonly used blind search method is time-consuming…

Autonomous driving at unsignalized intersections is still considered a challenging application for machine learning due to the complications associated with handling complex multi-agent scenarios characterized by a high degree of…

Intelligent systems sometimes need to infer the probable goals of people, cars, and robots, based on partial observations of their motion. This paper introduces a class of probabilistic programs for formulating and solving these problems.…

Autonomous cars have to navigate in dynamic environment which can be full of uncertainties. The uncertainties can come either from sensor limitations such as occlusions and limited sensor range, or from probabilistic prediction of other…

Transferring information from observations of a dynamical system to estimate the fixed parameters and unobserved states of a system model can be formulated as the evaluation of a discrete time path integral in model state space. The…

Humans make daily routine decisions based on their internal states in intricate interaction scenarios. This paper presents a probabilistically reconstructive learning approach to identify the internal states of multi-vehicle sequential…

We propose a Stochastic MPC (SMPC) formulation for path planning with autonomous vehicles in scenarios involving multiple agents with multi-modal predictions. The multi-modal predictions capture the uncertainty of urban driving in distinct…

Adaptive Informative Path Planning (AIPP) problems model an agent tasked with obtaining information subject to resource constraints in unknown, partially observable environments. Existing work on AIPP has focused on representing…

A state space representation of an environment is a classic and yet powerful tool used by many autonomous robotic systems for efficient and often optimal solution planning. However, designing these representations with high performance is…