相关论文: N 2 C : Neural Network Controller Design Using Beh…

For an autonomous corridor following task where the environment is continuously changing, several forms of environmental noise prevent an automated feature extraction procedure from performing reliably. Moreover, in cases where pre-defined…

Human and animal brains perform planning to enable complex movements and behaviors. This process can be effectively described using model predictive control (MPC); that is, brains can be thought of as implementing some version of MPC. How…

Concept bottleneck models have been successfully used for explainable machine learning by encoding information within the model with a set of human-defined concepts. In the context of human-assisted or autonomous driving, explainability…

Identifying driving styles is the task of analyzing the behavior of drivers in order to capture variations that will serve to discriminate different drivers from each other. This task has become a prerequisite for a variety of applications,…

This paper proposes an end-to-end deep reinforcement learning approach for mobile robot navigation with dynamic obstacles avoidance. Using experience collected in a simulation environment, a convolutional neural network (CNN) is trained to…

We propose an imitation learning system for autonomous driving in urban traffic with interactions. We train a Behavioral Cloning~(BC) policy to imitate driving behavior collected from the real urban traffic, and apply the data aggregation…

This paper presents the Task-Parameter Nexus (TPN), a learning-based approach for online determination of the (near-)optimal control parameters of model-based controllers (MBCs) for tracking tasks. In TPN, a deep neural network is…

Connected and autonomous vehicles have the potential to minimize energy consumption by optimizing the vehicle velocity and powertrain dynamics with Vehicle-to-Everything info en route. Existing deterministic and stochastic methods created…

Distributed Acoustic Sensing (DAS) is promising for traffic monitoring, but its extensive data and sensitivity to vibrations, causing noise, pose computational challenges. To address this, we propose a two-step deep-learning workflow with…

Deep learning (DL) has shown state-of-the-art performance in trajectory prediction, which is critical to safe navigation in autonomous driving (AD). However, most DL-based methods suffer from catastrophic forgetting, where adapting to a new…

Lane change (LC) is one of the safety-critical manoeuvres in highway driving according to various road accident records. Thus, reliably predicting such manoeuvre in advance is critical for the safe and comfortable operation of automated…

Autonomous vehicle navigation is a key challenge in artificial intelligence, requiring robust and accurate decision-making processes. This research introduces a new end-to-end method that exploits multimodal information from a single…

Neural network-based driving planners have shown great promises in improving task performance of autonomous driving. However, it is critical and yet very challenging to ensure the safety of systems with neural network based components,…

This work presents an online learning-based control method for improved trajectory tracking of unmanned aerial vehicles using both deep learning and expert knowledge. The proposed method does not require the exact model of the system to be…

This paper investigates the problem of impact-time-control and proposes a learning-based computational guidance algorithm to solve this problem. The proposed guidance algorithm is developed based on a general prediction-correction concept:…

With the rapid development of intelligent vehicles and Advanced Driver-Assistance Systems (ADAS), a new trend is that mixed levels of human driver engagements will be involved in the transportation system. Therefore, necessary visual…

The paper proposes a feed-forward control strategy for mobile robot control that accounts for a non-linear model of the vehicle with interaction between inputs and outputs. It is possible to include specific model uncertainties in the…

This study presents a dynamic neural network model based on the predictive coding framework for perceiving and predicting the dynamic visuo-proprioceptive patterns. In our previous study [1], we have shown that the deep dynamic neural…

This paper presents an end-to-end approach for tracking static and dynamic objects for an autonomous vehicle driving through crowded urban environments. Unlike traditional approaches to tracking, this method is learned end-to-end, and is…

A key component in autonomous driving is the ability of the self-driving car to understand, track and predict the dynamics of the surrounding environment. Although there is significant work in the area of object detection, tracking and…