相关论文: Bootstrap Motion Forecasting With Self-Consistent …
Continuous optimization based motion planners require specifying a maneuver class before calculating the optimal trajectory for that class. In traffic, the intentions of other participants are often unclear, presenting multiple maneuver…
Predicting human behavior is a difficult and crucial task required for motion planning. It is challenging in large part due to the highly uncertain and multi-modal set of possible outcomes in real-world domains such as autonomous driving.…
Predicting human motion behavior in a crowd is important for many applications, ranging from the natural navigation of autonomous vehicles to intelligent security systems of video surveillance. All the previous works model and predict the…
This paper studies the problem of risk-averse receding horizon motion planning for agents with uncertain dynamics, in the presence of stochastic, dynamic obstacles. We propose a model predictive control (MPC) scheme that formulates the…
Modeling dynamics is often the first step to making a vehicle autonomous. While on-road autonomous vehicles have been extensively studied, off-road vehicles pose many challenging modeling problems. An off-road vehicle encounters highly…
A long-standing goal in computer vision is to capture, model, and realistically synthesize human behavior. Specifically, by learning from data, our goal is to enable virtual humans to navigate within cluttered indoor scenes and naturally…
To address the difficult problem of multi-step ahead prediction of non-parametric autoregressions, we consider a forward bootstrap approach. Employing a local constant estimator, we can analyze a general type of non-parametric time series…
We propose a Stochastic MPC (SMPC) approach for autonomous driving which incorporates multi-modal, interaction-aware predictions of surrounding vehicles. For each mode, vehicle motion predictions are obtained by a control model described…
Predictive planning is a key capability for robots to efficiently and safely navigate populated environments. Particularly in densely crowded scenes, with uncertain human motion predictions, predictive path planning, and control can become…
Human mobility prediction is vital for urban planning, transportation optimization, and personalized services. However, the inherent randomness, non-uniform time intervals, and complex patterns of human mobility, compounded by the…
Minimally Invasive Surgeries (MIS) are challenging for surgeons due to the limited field of view and constrained range of motion imposed by narrow access ports. These challenges can be addressed by robot-assisted endoscope systems which…
Motion prediction is a critical part of self-driving technology, responsible for inferring future behavior of traffic actors in autonomous vehicle's surroundings. In order to ensure safe and efficient operations, prediction models need to…
Considerable research efforts have been devoted to the development of motion planning algorithms, which form a cornerstone of the autonomous driving system (ADS). Nonetheless, acquiring an interactive and secure trajectory for the ADS…
This paper presents a stochastic, model predictive control (MPC) algorithm that leverages short-term probabilistic forecasts for dispatching and rebalancing Autonomous Mobility-on-Demand systems (AMoD, i.e. fleets of self-driving vehicles).…
Numerical optimization has become a popular approach to plan smooth motion trajectories for robots. However, when sharing space with humans, balancing properly safety, comfort and efficiency still remains challenging. This is notably the…
Accurately forecasting the motion of traffic actors is crucial for the deployment of autonomous vehicles at a large scale. Current trajectory forecasting approaches primarily concentrate on optimizing a loss function with a specific metric,…
We propose a stochastic model predictive control (MPC) framework for linear systems subject to joint-in-time chance constraints under unknown disturbance distributions. Unlike existing approaches that rely on parametric or Gaussian…
Trajectory planning in urban automated driving is challenging because of the high uncertainty resulting from the unknown future motion of other traffic participants. Robust approaches guarantee safety, but tend to result in overly…
This paper presents a novel Nonlinear Model Predictive Control (NMPC) scheme for underwater robotic vehicles operating in a constrained workspace including static obstacles. The purpose of the controller is to guide the vehicle towards…
This work develops a robust nonlinear Model Predictive Control (MPC) framework for path tracking in autonomous vehicles operating at the limits of handling utilizing a Control Contraction Metric (CCM) derived from a perturbed dynamic single…