相关论文: End to end collision avoidance based on optical fl…

This paper presents an approach to mutual collision avoidance based on Nonlinear Model Predictive Control (NMPC) with time-dependent Reciprocal Velocity Constraints (RVCs). Unlike most existing methods, the proposed approach relies solely…

End-to-end autonomous driving methods aim to directly map raw sensor inputs to future driving actions such as planned trajectories, bypassing traditional modular pipelines. While these approaches have shown promise, they often operate under…

Autonomous UAV racing has recently emerged as an interesting research problem. The dream is to beat humans in this new fast-paced sport. A common approach is to learn an end-to-end policy that directly predicts controls from raw images by…

We tackle the problem of estimating optical flow from a monocular camera in the context of autonomous driving. We build on the observation that the scene is typically composed of a static background, as well as a relatively small number of…

This paper presents a novel collision avoidance strategy for unmanned aircraft detect and avoid that requires only information about the relative bearing angle between an aircraft and hazard. It is shown that this bearing-only strategy can…

-Navigation through narrow and irregular gaps is an essential skill in autonomous drones for applications such as inspection, search-and-rescue, and disaster response. However, traditional planning and control methods rely on explicit gap…

Online corner case detection is crucial for ensuring safety in autonomous driving vehicles. Current autonomous driving approaches can be categorized into modular approaches and end-to-end approaches. To leverage the advantages of both, we…

Traditional methods for autonomous driving are implemented with many building blocks from perception, planning and control, making them difficult to generalize to varied scenarios due to complex assumptions and interdependencies. Recently,…

Bio-inspired methods can provide efficient solutions to perform autonomous landing for Micro Air Vehicles (MAVs). Flying insects such as honeybees perform vertical landings by keeping flow divergence constant. This leads to an exponential…

Autonomous driving is of great interest to industry and academia alike. The use of machine learning approaches for autonomous driving has long been studied, but mostly in the context of perception. In this paper we take a deeper look on the…

In this paper, we investigate the problem of enabling a drone to fly through a tilted narrow gap, without a traditional planning and control pipeline. To this end, we propose an end-to-end policy network, which imitates from the traditional…

This paper studies the collision avoidance problem for autonomous multiple fixedwing UAVs in the complex integrated airspace. By studying and combining the online path planning method, the distributed model predictive control algorithm, and…

Optical flow estimation is one of the fundamental tasks in low-level computer vision, which describes the pixel-wise displacement and can be used in many other tasks. From the apparent aspect, the optical flow can be viewed as the…

The lane detection is a key problem to solve the division of derivable areas in unmanned driving, and the detection accuracy of lane lines plays an important role in the decision-making of vehicle driving. Scenes faced by vehicles in daily…

Traditionally, deriving aerodynamic parameters for an airfoil via Computational Fluid Dynamics requires significant time and effort. However, recent approaches employ neural networks to replace this process, it still grapples with…

In order to anticipate dangerous events, like a collision, an agent needs to make long-term predictions. However, those are challenging due to uncertainties in internal and external variables and environment dynamics. A sensorimotor model…

Temporal coherence is a valuable source of information in the context of optical flow estimation. However, finding a suitable motion model to leverage this information is a non-trivial task. In this paper we propose an unsupervised online…

We present a mathematical model to predict pedestrian motion over a finite horizon, intended for use in collision avoidance algorithms for autonomous driving. The model is based on a road map structure, and assumes a rational pedestrian…

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…

Optical flow estimation can be formulated as an end-to-end supervised learning problem, which yields estimates with a superior accuracy-runtime tradeoff compared to alternative methodology. In this paper, we make such networks estimate…