相关论文: Improving Motion Forecasting for Autonomous Drivin…

This paper proposes an algorithm for motion planning among dynamic agents using adaptive conformal prediction. We consider a deterministic control system and use trajectory predictors to predict the dynamic agents' future motion, which is…

We propose a new scheme to learn motion planning constraints from human driving trajectories. Behavioral and motion planning are the key components in an autonomous driving system. The behavioral planning is responsible for high-level…

This paper presents a robust path following control method for vehicles that explicitly considers steering resistance dynamics to improve tracking accuracy. Conventional methods typically treat the steering angle as a direct control input;…

Deep learning-based trajectory prediction models have demonstrated promising capabilities in capturing complex interactions. However, their out-of-distribution generalization remains a significant challenge, particularly due to unbalanced…

Autonomous vehicles with a self-evolving ability are expected to cope with unknown scenarios in the real-world environment. Take advantage of trial and error mechanism, reinforcement learning is able to self evolve by learning the optimal…

Mobile robots are ubiquitous. Such vehicles benefit from well-designed and calibrated control algorithms ensuring their task execution under precise uncertainty bounds. Yet, in tasks involving humans in the loop, such as elderly or mobility…

Model Predictive Control lacks the ability to escape local minima in nonconvex problems. Furthermore, in fast-changing, uncertain environments, the conventional warmstart, using the optimal trajectory from the last timestep, often falls…

Human trajectory prediction has received increased attention lately due to its importance in applications such as autonomous vehicles and indoor robots. However, most existing methods make predictions based on human-labeled trajectories and…

Robots and other intelligent systems navigating in complex dynamic environments should predict future actions and intentions of surrounding agents to reach their goals efficiently and avoid collisions. The dynamics of those agents strongly…

This paper introduces a novel trajectory planner for autonomous robots, specifically designed to enhance navigation by incorporating dynamic obstacle avoidance within the Robot Operating System 2 (ROS2) and Navigation 2 (Nav2) framework.…

In this paper, we show how uncertainty estimation can be leveraged to enable safety critical image segmentation in autonomous driving, by triggering a fallback behavior if a target accuracy cannot be guaranteed. We introduce a new…

Detecting other agents and forecasting their behavior is an integral part of the modern robotic autonomy stack, especially in safety-critical scenarios entailing human-robot interaction such as autonomous driving. Due to the importance of…

Efficient robot dynamics simulation is a fundamental problem key for robot control, identification, design and analysis. This research statement explores my current progress in this field and future research directions.

A reliable controller is critical for execution of safe and smooth maneuvers of an autonomous vehicle. The controller must be robust to external disturbances, such as road surface, weather, wind conditions, and so on. It also needs to deal…

Uncertainty of environments has long been a difficult characteristic to handle, when performing real-world robot tasks. This is because the uncertainty produces unexpected observations that cannot be covered by manual scripting. Learning…

This article addresses the obstacle avoidance problem for setpoint stabilization and path-following tasks in complex dynamic 2D environments that go beyond conventional scenes with isolated convex obstacles. A combined motion planner and…

Trajectory forecasting is a widely-studied problem for autonomous navigation. However, existing benchmarks evaluate forecasting based on independent snapshots of trajectories, which are not representative of real-world applications that…

Predicting the trajectories of surrounding agents is still considered one of the most challenging tasks for autonomous driving. In this paper, we introduce a multi-modal trajectory prediction framework based on the transformer network. The…

Dynamical weather and climate prediction models underpin many studies of the Earth system and hold the promise of being able to make robust projections of future climate change based on physical laws. However, simulations from these models…

Self-driving vehicles are a maturing technology with the potential to reshape mobility by enhancing the safety, accessibility, efficiency, and convenience of automotive transportation. Safety-critical tasks that must be executed by a…