相关论文: Adaptive Trajectory Estimation with Power Limited …

Ordinary Differential Equations are widespread tools to model chemical, physical, biological process but they usually rely on parameters which are of critical importance in terms of dynamic and need to be estimated directly from the data.…

This paper proposes an optimization-based approach to predict trajectories of autonomous race cars. We assume that the observed trajectory is the result of an optimization problem that trades off path progress against acceleration and jerk…

Trajectory Prediction (TP) is an important research topic in computer vision and robotics fields. Recently, many stochastic TP models have been proposed to deal with this problem and have achieved better performance than the traditional…

Spatiotemporal trajectory data is crucial for various applications. However, issues such as device malfunctions and network instability often cause sparse trajectories, leading to lost detailed movement information. Recovering the missing…

This work examines the optimal covariance steering problem for systems subject to unknown parameters that enter multiplicatively with the state and control, in addition to additive disturbances. In contrast to existing works, the unknown…

We present ASTRA (A} Scene-aware TRAnsformer-based model for trajectory prediction), a light-weight pedestrian trajectory forecasting model that integrates the scene context, spatial dynamics, social inter-agent interactions and temporal…

Forecast-then-optimize is a widely-used framework for decision-making problems in power systems. Traditionally, statistical losses have been employed to train forecasting models, but recent research demonstrated that improved decision…

Trajectory inference seeks to recover the temporal dynamics of a population from snapshots of its (uncoupled) temporal marginals, i.e. where observed particles are not tracked over time. Prior works addressed this challenging problem under…

Developing autonomous vehicles (AVs) helps improve the road safety and traffic efficiency of intelligent transportation systems (ITS). Accurately predicting the trajectories of traffic participants is essential to the decision-making and…

This paper addresses the challenge of human-guided navigation for mobile collaborative robots under simultaneous proximity regulation and safety constraints. We introduce Adaptive Reinforcement and Model Predictive Control Switching (ARMS),…

Accurate estimation of the vehicle's sideslip angle and tire forces is essential for enhancing safety and handling performances in unknown driving scenarios. To this end, the present paper proposes an innovative observer that combines a…

Trajectory prediction is critical for autonomous driving, enabling safe and efficient planning in dense, dynamic traffic. Most existing methods optimize prediction accuracy under fixed-length observations. However, real-world driving often…

This paper presents an approach to trajectory-centric learning control based on contraction metrics and disturbance estimation for nonlinear systems subject to matched uncertainties. The approach uses deep neural networks to learn uncertain…

Debiased machine learning estimators for smooth functionals in nonparametric models can exhibit substantial variability and instability, often leading practitioners to instead rely on parametric or semiparametric working models. Such…

Real-world time series data often present recurrent or repetitive patterns and it is often generated in real time, such as transportation passenger volume, network traffic, system resource consumption, energy usage, and human gait.…

In this paper, a self-learning approach is proposed towards solving scene-specific pedestrian detection problem without any human' annotation involved. The self-learning approach is deployed as progressive steps of object discovery, object…

Deep learning-based trajectory prediction models for autonomous driving often struggle with generalization to out-of-distribution (OOD) scenarios, sometimes performing worse than simple rule-based models. To address this limitation, we…

Single Particle Tracking (SPT) can aid in understanding complex spatio-temporal processes. However, quantifying diffusivity and forces from individual live cell trajectories is complicated by inter- & intra-trajectory kinetic heterogeneity,…

A new adaptive observer is proposed for a certain class of nonlinear systems with bounded unknown input and parametric uncertainty. Unlike most existing solutions, the proposed approach ensures asymptotic convergence of the unknown…

Linear trajectory models provide mathematical advantages to autonomous driving applications such as motion prediction. However, linear models' expressive power and bias for real-world trajectories have not been thoroughly analyzed. We…