相关论文: Collision Prediction from UWB Range Measurements
In this paper we are interested in the task of searching and tracking multiple moving targets in a bounded surveillance area with a group of autonomous mobile agents. More specifically, we assume that targets can appear and disappear at…
By observing their environment as well as other traffic participants, humans are enabled to drive road vehicles safely. Vehicle passengers, however, perceive a notable difference between non-experienced and experienced drivers. In…
As machine learning models become increasingly prevalent in motion forecasting for autonomous vehicles (AVs), it is critical to ensure that model predictions are safe and reliable. However, exhaustively collecting and labeling the data…
Localization plays a critical role in the field of distributed swarm robotics. Previous work has highlighted the potential of relative localization for position tracking in multi-robot systems. Ultra-wideband (UWB) technology provides a…
Mobile manipulators require coordinated control between navigation and manipulation to accomplish tasks. Typically, coordinated mobile manipulation behaviors have base navigation to approach the goal followed by arm manipulation to reach…
Next generation Unmanned Aerial Vehicles (UAVs) must reliably avoid moving obstacles. Existing dynamic collision avoidance methods are effective where obstacle trajectories are linear or known, but such restrictions are not accurate to many…
Online generation of collision free trajectories is of prime importance for autonomous navigation. Dynamic environments, robot motion and sensing uncertainties adds further challenges to collision avoidance systems. This paper presents an…
Based on requirements of modern vehicle, in- vehicle Controller Area Network (CAN) architecture has been implemented. In order to reduce point to point wiring harness in vehicle automation, CAN is suggested as a means for data communication…
This article studies the problem of distributed formation control for multiple robots by using onboard ultra wide band (UWB) distance and inertial odometer (IO) measurements. Although this problem has been widely studied, a fundamental…
Accurate pose and velocity estimation is essential for effective spatial task planning in robotic manipulators. While centralized sensor fusion has traditionally been used to improve pose estimation accuracy, this paper presents a novel…
In this work, we consider the task of collision-free trajectory planning for connected self-driving vehicles. We specifically consider communication-critical situations--situations where single-agent systems have blindspots that require…
Accurate and low-power indoor localization is becoming more and more of a necessity to empower novel consumer and industrial applications. In this field, the most promising technology is based on UWB modulation; however, current UWB…
This paper deals with the multi-object detection and tracking problem, within the scope of open Radio Access Network (RAN), for collision avoidance in vehicular scenarios. To this end, a set of distributed intelligent agents collocated with…
UWB has recently gained new attention as an auxiliary sensor in the field of robot localization due to its compactness and ease of distance measurement. Consequently, various UWB-related localization and dataset research have increased.…
For survival, a living agent must have the ability to assess risk (1) by temporally anticipating accidents before they occur, and (2) by spatially localizing risky regions in the environment to move away from threats. In this paper, we take…
We propose JFP, a Joint Future Prediction model that can learn to generate accurate and consistent multi-agent future trajectories. For this task, many different methods have been proposed to capture social interactions in the encoding part…
Human drivers can recognise fast abnormal driving situations to avoid accidents. Similar to humans, automated vehicles are supposed to perform anomaly detection. In this work, we propose the spatio-temporal graph auto-encoder for learning…
Propagation of UWB Gaussian signal in a model of automated collaborative warehouse is analyzed using ray tracing method. The transmitting antenna is placed on the human body while the received power profiles in warehouse containing empty…
In this paper we propose a novel distributed model predictive control (DMPC) based algorithm with a trajectory predictor for a scenario of landing of unmanned aerial vehicles (UAVs) on a moving unmanned surface vehicle (USV). The algorithm…
Collision avoidance is key for mobile robots and agents to operate safely in the real world. In this work we present SAFER, an efficient and effective collision avoidance system that is able to improve safety by correcting the control…