相关论文: Pedestrian Collision Avoidance System for Scenario…

This research introduces two efficient methods to estimate the collision risk of planned trajectories in autonomous driving under uncertain driving conditions. Deterministic collision checks of planned trajectories are often inaccurate or…

Currently, we are in an environment where the fraction of automated vehicles is negligibly small. We anticipate that this fraction will increase in coming decades before if ever, we have a fully automated transportation system. Motivated by…

This paper proposes a comprehensive hierarchical control framework for autonomous decision-making arising in robotics and autonomous systems. In a typical hierarchical control architecture, high-level decision making is often characterised…

Evaluating and updating the obstacle avoidance velocity for an autonomous robot in real-time ensures robustness against noise and disturbances. A passive damping controller can obtain the desired motion with a torque-controlled robot, which…

Intelligent devices for supporting persons with vision impairment are becoming more widespread, but they are lacking behind the advancements in intelligent driver assistant system. To make a first step forward, this work discusses the…

Collision avoidance requires tradeoffs in planning time horizons. Depending on the planner, safety cannot always be guaranteed in uncertain environments given map updates. To mitigate situations where the planner leads the vehicle into a…

This paper presents a unified framework for the evaluation and optimization of autonomous vehicle trajectories, integrating formal safety, comfort, and efficiency criteria. An innovative geometric indicator, based on the analysis of safety…

This study addresses the challenge of stroke diagnosis and treatment under uncertainty, a critical issue given the rapid progression and severe consequences of stroke conditions such as aneurysms, arteriovenous malformations (AVM), and…

National Highway Traffic Safety Administration reported 7,345 pedestrian fatalities in the United States in 2022, making pedestrian safety a pressing issue in urban mobility. This study presents a novel probabilistic simulation framework…

Considerable research efforts have been devoted to the development of motion planning algorithms, which form a cornerstone of the autonomous driving system (ADS). Nonetheless, acquiring an interactive and secure trajectory for the ADS…

We present an approach for predictive braking of a four-wheeled vehicle on a nonplanar road. Our main contribution is a methodology to consider friction and road contact safety on general smooth road geometry. We use this to develop an…

In mobile robot navigation, despite advancements, the generation of optimal paths often disrupts pedestrian areas. To tackle this, we propose three key contributions to improve human-robot coexistence in shared spaces. Firstly, we have…

Safety in terms of collision avoidance for multi-robot systems is a difficult challenge under uncertainty, non-determinism and lack of complete information. This paper aims to propose a collision avoidance method that accounts for both…

In interactions between automated vehicles (AVs) and crossing pedestrians, modeling implicit vehicle communication is crucial. In this work, we present a combined prediction and planning approach that allows to consider the influence of the…

Urban intersections are prone to delays and inefficiencies due to static precedence rules and occlusions limiting the view on prioritized traffic. Existing approaches to improve traffic flow, widely known as automatic intersection…

This paper presents an integrated motion planning system for autonomous vehicle (AV) parking in the presence of other moving vehicles. The proposed system includes 1) a hybrid environment predictor that predicts the motions of the…

Collision avoidance is one of the most promising applications for vehicular networks, dramatically improving the safety of the vehicles that support it. In this paper, we investigate how it can be extended to benefit vulnerable users, e.g.,…

Cooperative maneuver planning promises to significantly improve traffic efficiency at unsignalized intersections by leveraging connected automated vehicles. Previous works on this topic have been mostly developed for completely automated…

Operation in a real world traffic requires autonomous vehicles to be able to plan their motion in complex environments (multiple moving participants). Planning through such environment requires the right search space to be provided for the…

In this paper, we present an on-board vision-based approach for avoidance of moving obstacles in dynamic environments. Our approach relies on an efficient obstacle detection and tracking algorithm based on depth image pairs, which provides…