相关论文: Dynamic Allocation of Visual Attention for Vision-…

As autonomous systems increasingly rely on onboard sensing for localization and perception, the parallel tasks of motion planning and state estimation become more strongly coupled. This coupling is well-captured by augmenting the planning…

Robust evidence suggests that humans explore their environment using a combination of topological landmarks and coarse-grained path integration. This approach relies on identifiable environmental features (topological landmarks) in tandem…

In this paper we study the distance-based docking problem of unmanned aerial vehicles (UAVs) by using a single landmark placed at an arbitrarily unknown position. To solve the problem, we propose an integrated estimation-control scheme to…

This paper presents a generic feature-based navigation framework for autonomous vehicles using a soft constrained Particle Filter. Selected map features, such as road and landmark locations, and vehicle states are used for designing soft…

Vision-and-language navigation is one of the core tasks in embodied intelligence, requiring an agent to autonomously navigate in an unfamiliar environment based on natural language instructions. However, existing methods often fail to match…

Vision-based deep learning (DL) methods have made great progress in learning autonomous driving models from large-scale crowd-sourced video datasets. They are trained to predict instantaneous driving behaviors from video data captured by…

The detection and tracking of celestial surface terrain features are crucial for autonomous spaceflight applications, including Terrain Relative Navigation (TRN), Entry, Descent, and Landing (EDL), hazard analysis, and scientific data…

Navigation in an unknown environment consists of multiple separable subtasks, such as collecting information about the surroundings and navigating to the current goal. In the case of pure visual navigation, all these subtasks need to…

We present a vehicle self-localization method using point-based deep neural networks. Our approach processes measurements and point features, i.e. landmarks, from a high-definition digital map to infer the vehicle's pose. To learn the best…

Platooning connected and autonomous vehicles (CAVs) provide significant benefits in terms of traffic efficiency and fuel economy. However, most existing platooning systems assume the availability of pre-determined plans, which is not…

Despite impressive advancements in Autonomous Driving Systems (ADS), navigation in complex road conditions remains a challenging problem. There is considerable evidence that evaluating the subjective risk level of various decisions can…

We propose a novel receding horizon planner for an autonomous surface vehicle (ASV) performing path planning in urban waterways. Feasible paths are found by repeatedly generating and searching a graph reflecting the obstacles observed in…

There have been many works that focus on the sampling set design for a static graph signal, but few for time-varying graph signals (GS). In this paper, we concentrate on how to select vertices to sample and how to allocate the sampling…

This paper proposes a novel adaptive guidance system developed using reinforcement meta-learning with a recurrent policy and value function approximator. The use of recurrent network layers allows the deployed policy to adapt real time to…

We present a fully decentralized routing framework for multi-robot exploration missions operating under the constraints of a Lunar Delay-Tolerant Network (LDTN). In this setting, autonomous rovers must relay collected data to a lander under…

Robustly predicting attention regions of interest for self-driving systems is crucial for driving safety but presents significant challenges due to the labor-intensive nature of obtaining large-scale attention labels and the domain gap…

This paper presents a novel data-driven navigation system to navigate an Unmanned Vehicle (UV) in GPS-denied, feature-deficient environments such as tunnels, or mines. The method utilizes landmarks that vehicle can deploy and measure range…

Visible light communication (VLC) uses huge license-free spectral bandwidth of visible light for high-speed wireless communication. Since each VLC access point covers a small area, handovers of mobile users are inevitable. In order to deal…

In this paper, we develop a class of decentralized algorithms for solving a convex resource allocation problem in a network of $n$ agents, where the agent objectives are decoupled while the resource constraints are coupled. The agents…

Current navigation systems conflate time-to-drive with the true time-to-arrive by ignoring parking search duration and the final walking leg. Such underestimation can significantly affect user experience, mode choice, congestion, and…