相关论文: Sensor Object Plausibilization with Boids Flocking…

In this paper, we aim at improving the tracking of road users in urban scenes. We present a constraint programming (CP) approach for the data association phase found in the tracking-by-detection paradigm of the multiple object tracking…

We consider the challenging problem of tracking multiple objects using a distributed network of sensors. In the practical setting of nodes with limited field of views (FoVs), computing power and communication resources, we develop a novel…

In this article, we present a distributed source-seeking and flocking control method for networked multi-agent systems with non-holonomic constraints. Based solely on identical on-board sensor systems, which measure the source local field,…

We investigate the emergence of cohesive flocking in open, boundless space using a multi-agent reinforcement learning framework. Agents integrate positional and orientational information from their closest topological neighbours and learn…

This paper presents a data-driven approach to learning vision-based collective behavior from a simple flocking algorithm. We simulate a swarm of quadrotor drones and formulate the controller as a regression problem in which we generate 3D…

Understanding driving behaviors is essential for improving safety and mobility of our transportation systems. Data is usually collected via simulator-based studies or naturalistic driving studies. Those techniques allow for understanding…

In recent years, the field of autonomous driving has witnessed remarkable advancements, driven by the integration of a multitude of sensors, including cameras and LiDAR systems, in different prototypes. However, with the proliferation of…

Lidar sensors are widely used in various applications, ranging from scientific fields over industrial use to integration in consumer products. With an ever growing number of different driver assistance systems, they have been introduced to…

Environment modeling in autonomous driving is realized by two fundamental approaches, grid-based and feature-based approach. Both methods interpret the environment differently and show some situation-dependent beneficial realizations. In…

Over the past few decades, the research community has been interested in the study of multi-agent systems and their emerging collective dynamics. These systems are all around us in nature, like bacterial colonies, fish schools, bird flocks,…

Physical social encounters are governed by a set of socio-psychological behavioral rules with a high degree of uniform validity. Past research has shown how these rules or the resulting properties of the encounters (e.g. the geometry of…

With growing complexity and criticality of automated driving functions in road traffic and their operational design domains (ODD), there is increasing demand for covering significant proportions of development, validation, and verification…

This paper proposes a novel learning-based control policy with strong generalizability to new environments that enables a mobile robot to navigate autonomously through spaces filled with both static obstacles and dense crowds of…

We study intersection access control for autonomous vehicles. Platoon forming algorithms, which aim to organize individual vehicles in platoons, are very promising. To create those platoons, we slow down vehicles before the actual arrival…

Detecting small, densely distributed objects is a significant challenge: small objects often contain less distinctive information compared to larger ones, and finer-grained precision of bounding box boundaries are required. In this paper,…

Increasingly, autonomous vehicles (AVs) are becoming a reality, such as the Advanced Driver Assistance Systems (ADAS) in vehicles that assist drivers in driving and parking functions with vehicles today. The localization problem for AVs…

Image-based multi-object detection (MOD) and multi-object tracking (MOT) are advancing at a fast pace. A variety of 2D and 3D MOD and MOT methods have been developed for monocular and stereo cameras. Road safety analysis can benefit from…

Already today, driver assistance systems help to make daily traffic more comfortable and safer. However, there are still situations that are quite rare but are hard to handle at the same time. In order to cope with these situations and to…

Driving on roads is restricted by various traffic rules, aiming to ensure safety for all traffic participants. However, human road users usually do not adhere to these rules strictly, resulting in varying degrees of rule conformity. Such…

It is difficult to perform 3D reconstruction from on-vehicle gathered video due to the large forward motion of the vehicle. Even object detection and human sensing models perform significantly worse on onboard videos when compared to…