相关论文: Guiding vector fields in Paparazzi autopilot
Recent advancements in world models have revolutionized dynamic environment simulation, allowing systems to foresee future states and assess potential actions. In autonomous driving, these capabilities help vehicles anticipate the behavior…
Oblique images are aerial photographs taken at oblique angles to the earth's surface. Projections of vector and other geospatial data in these images depend on camera parameters, positions of the geospatial entities, surface terrain,…
The use of an efficient coverage planning method is key for autonomous navigation in agricultural environments, where a robot must cover large areas of crops. This paper generally reviews the current state of the art of coverage path…
An active area of research is to increase the safety of self-driving vehicles. Although safety cannot be guarenteed completely, the capability of a vehicle to predict the future trajectories of its surrounding vehicles could help ensure…
Machine learning models, which are frequently used in self-driving cars, are trained by matching the captured images of the road and the measured angle of the steering wheel. The angle of the steering wheel is generally fetched from…
In recent years, several progressive works promote the development of aerial tracking. One of the representative works is our previous work Fast-tracker which is applicable to various challenging tracking scenarios. However, it suffers from…
Steering vectors (SVs) offer a lightweight way to control large language models (LLMs) at inference time by shifting hidden activations, providing a practical middle ground between prompting and fine-tuning. Yet SVs can be unreliable in…
The robotics community is increasingly interested in autonomous aerial transportation. Unmanned aerial vehicles with suspended payloads have advantages over other systems, including mechanical simplicity and agility, but pose great…
The ability to predict the future movements of other vehicles is a subconscious and effortless skill for humans and key to safe autonomous driving. Therefore, trajectory prediction for autonomous cars has gained a lot of attention in recent…
This paper proposes a novel solution for improving visual localization in an active fashion. The solution, based on artificial potential field, associates each feature in the current image frame with an attractive or neutral potential…
Full drive-by-wire electric vehicles (FDWEV) with X-by-wire technology can achieve independent driving, braking, and steering of each wheel, providing a good application platform for autonomous driving technology. Path planning and tracking…
The challenge of navigation in environments with dynamic objects continues to be a central issue in the study of autonomous agents. While predictive methods hold promise, their reliance on precise state information makes them less practical…
Being able to anticipate the motion of surrounding agents is essential for the safe operation of autonomous driving systems in dynamic situations. While various methods have been proposed for trajectory prediction, the current evaluation…
We consider the challenging problem of high speed autonomous racing in a realistic Formula One environment. DeepRacing is a novel end-to-end framework, and a virtual testbed for training and evaluating algorithms for autonomous racing. The…
Autonomous vehicle platoons present near- and long-term opportunities to enhance operational efficiencies and save lives. The past 30 years have seen rapid development in the autonomous driving space, enabling new technologies that will…
Planning is an essential topic in the realm of automated driving. Besides planning algorithms that are widely covered in the literature, planning requires different software tools for its development, validation, and execution. This paper…
This paper introduces a control architecture for real-time and onboard control of Unmanned Aerial Vehicles (UAVs) in environments with obstacles using the Model Predictive Path Integral (MPPI) methodology. MPPI allows the use of the full…
Autonomous vehicles (AVs) must share space with pedestrians, both in carriageway cases such as cars at pedestrian crossings and off-carriageway cases such as delivery vehicles navigating through crowds on pedestrianized high-streets. Unlike…
Multirotors are usually desired to enter confined narrow tunnels that are barely accessible to humans in various applications including inspection, search and rescue, and so on. This task is extremely challenging since the lack of geometric…
We present a simple and flexible object detection framework optimized for autonomous driving. Building on the observation that point clouds in this application are extremely sparse, we propose a practical pillar-based approach to fix the…