相关论文: A Novel Collision Detection and Avoidance system f…
Traffic collision avoidance systems (TCAS) are used in order to avoid incidences of mid-air collisions between aircraft. We present a game-theoretic approach of a TCAS designed for autonomous unmanned aerial vehicles (UAVs). A variant of…
Despite the continual advances in Advanced Driver Assistance Systems (ADAS) and the development of high-level autonomous vehicles (AV), there is a general consensus that for the short to medium term, there is a requirement for a human…
Predicting on-road abnormalities such as road accidents or traffic violations is a challenging task in traffic surveillance. If such predictions can be done in advance, many damages can be controlled. Here in our wok, we tried to formulate…
The implementation of optimization-based motion coordination approaches in real world multi-agent systems remains challenging due to their high computational complexity and potential deadlocks. This paper presents a distributed model…
Animals have been a common sighting on roads in India which leads to several accidents between them and vehicles every year. This makes it vital to develop a support system for driverless vehicles that assists in preventing these forms of…
Currently, there are computer vision systems that help us with tasks that would be dull for humans, such as surveillance and vehicle tracking. An important part of this analysis is to identify traffic anomalies. An anomaly tells us that…
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.,…
The cooperation of connected and automated vehicles (CAVs) has shown great potential in improving traffic efficiency during intersection management. Existing research mainly focuses on intersections where lane changing is prohibited, which…
Understanding road scenes for visual perception remains crucial for intelligent self-driving cars. In particular, it is desirable to detect unexpected small road hazards reliably in real-time, especially under varying adverse conditions…
We propose a Model Predictive Control (MPC) for collision avoidance between an autonomous agent and dynamic obstacles with uncertain predictions. The collision avoidance constraints are imposed by enforcing positive distance between convex…
This paper presents a new collision avoidance procedure for unmanned aerial vehicles in the presence of static and moving obstacles. The proposed procedure is based on a new form of local parametrized guidance vector fields, called…
Understanding collision avoidance behavior is of key importance in traffic safety research and for designing and evaluating advanced driver assistance systems and autonomous vehicles. While existing experimental work has primarily focused…
In this paper, a novel closed-loop control framework for autonomous obstacle avoidance on a curve road is presented. The proposed framework provides two main functionalities; (i) collision free trajectory planning using MPC and (ii) a…
We propose a novel methodology for robotic follow-ahead applications that address the critical challenge of obstacle and occlusion avoidance. Our approach effectively navigates the robot while ensuring avoidance of collisions and occlusions…
Vehicle velocity and inter-vehicle distance estimation are essential for ADAS (Advanced driver-assistance systems) and autonomous vehicles. To save the cost of expensive ranging sensors, recent studies focus on using a low-cost monocular…
We present a fully distributed collision avoidance algorithm based on convex optimization for a team of mobile robots. This method addresses the practical case in which agents sense each other via measurements from noisy on-board sensors…
In recent days, with increased population and traffic on roadways, vehicle collision is one of the leading causes of death worldwide. The automotive industry is motivated on developing techniques to use sensors and advancements in the field…
This article proposes a novel control architecture using a centralized nonlinear model predictive control (CNMPC) scheme for controlling multiple micro aerial vehicles (MAVs). The control architecture uses an augmented state system to…
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…
Collision detection plays a key role in the simulation of interacting rigid bodies. However, owing to its computational complexity current methods typically prioritize either maximizing processing speed or fidelity to real-world behaviors.…