相关论文: A Resilient Navigation and Path Planning System fo…
As cameras and inertial sensors are becoming ubiquitous in mobile devices and robots, it holds great potential to design visual-inertial navigation systems (VINS) for efficient versatile 3D motion tracking which utilize any (multiple)…
Collision avoidance requires tradeoffs in planning time horizons. Depending on the planner, safety cannot always be guaranteed in uncertain environments given map updates. To mitigate situations where the planner leads the vehicle into a…
Modern robotic systems are required to operate in challenging environments, which demand reliable localization under challenging conditions. LiDAR-based localization methods, such as the Iterative Closest Point (ICP) algorithm, can suffer…
Current visual navigation systems often treat the environment as static, lacking the ability to adaptively interact with obstacles. This limitation leads to navigation failure when encountering unavoidable obstructions. In response, we…
Robust multi-vehicle path-planning is important for ensuring the safety of multi-vehicle systems in applications like transportation, search and rescue, and robotic exploration. Chance-constrained methods like Iterative Risk Allocation…
The recent surge in the vehicle market has led to an alarming increase in road accidents. This underscores the critical importance of enhancing road safety measures, particularly for vulnerable road users like motorcyclists. Hence, we…
Safe and efficient path planning in parking scenarios presents a significant challenge due to the presence of cluttered environments filled with static and dynamic obstacles. To address this, we propose a novel and computationally efficient…
While Artificial intelligence (AI), including Generative AI, are effective at generating high-quality traffic data and optimization solutions in intelligent transportation systems (ITSs), these techniques often demand significant training…
Vehicle trajectory planning is a key component for an autonomous driving system. A practical system not only requires the component to compute a feasible trajectory, but also a comfortable one given certain comfort metrics. Nevertheless,…
Integrated sensing and communication (ISAC) base stations can provide communication and wide range sensing information for vehicles via downlink (DL) transmission, thus enhancing vehicle driving safety. One major challenge for realizing…
An important capability of autonomous Unmanned Aerial Vehicles (UAVs) is autonomous landing while avoiding collision with obstacles in the process. Such capability requires real-time local trajectory planning. Although trajectory-planning…
This paper introduces ICanC (pronounced "I Can See"), a novel system designed to enhance object detection and optimize energy efficiency in autonomous vehicles (AVs) operating in low-illumination environments. By leveraging the…
Mobile robots, especially those driving outdoors and in unstructured terrain, sometimes suffer from failures and errors in locomotion, like unevenly pressurized or flat tires, loose axes or de-tracked tracks. Those are errors that go…
This paper develops and summarizes the work of building the autonomous integrated system including perception system and vehicle dynamic controller for a formula student autonomous racecar. We propose a system framework combining X-by-wired…
This paper addresses the problem of optimizing communicated information among heterogeneous, resource-aware robot teams to facilitate their navigation. In such operations, a mobile robot compresses its local map to assist another robot in…
Efficiency is critical for autonomous vehicles (AVs), especially for emergency AVs. However, most existing methods focus on regular vehicles, overlooking the distinct strategies required by emergency vehicles to address the challenge of…
High-speed, low-latency obstacle avoidance that is insensitive to sensor noise is essential for enabling multiple decentralized robots to function reliably in cluttered and dynamic environments. While other distributed multi-agent collision…
The optimal disturbance rejection control problem is considered for consensus tracking systems affected by external persistent disturbances and noise. Optimal estimated values of system states are obtained by recursive filtering for the…
Visually impaired people usually find it hard to travel independently in many public places such as airports and shopping malls due to the problems of obstacle avoidance and guidance to the desired location. Therefore, in the highly dynamic…
The recent development of integrated sensing and communications (ISAC) technology offers new opportunities to meet high-throughput and low-latency communication as well as high-resolution localization requirements in vehicular networks.…