相关论文: Trajectory Adaptive Prediction for Moving Objects …

Predicting vehicle trajectories is crucial for ensuring automated vehicle operation efficiency and safety, particularly on congested multi-lane highways. In such dynamic environments, a vehicle's motion is determined by its historical…

For driving safely and efficiently in highway scenarios, autonomous vehicles (AVs) must be able to predict future behaviors of surrounding object vehicles (OVs), and assess collision risk accurately for reasonable decision-making. Aiming at…

Trajectory prediction is, naturally, a key task for vehicle autonomy. While the number of traffic rules is limited, the combinations and uncertainties associated with each agent's behaviour in real-world scenarios are nearly impossible to…

Intuitive human-machine interfaces may be developed using pattern classification to estimate executed human motions from electromyogram (EMG) signals generated during muscle contraction. The continual use of EMG-based interfaces gradually…

We propose a new formulation of optimal motion planning (OMP) algorithm for robots operating in a hazardous environment, called adaptive Gaussian-process based stochastic trajectory optimization (AGP-STO). It first restarts the accelerated…

In this paper, we propose a novel approach for agent motion prediction in cluttered environments. One of the main challenges in predicting agent motion is accounting for location and context-specific information. Our main contribution is…

The Gaussian process state-space model (GPSSM) has attracted extensive attention for modeling complex nonlinear dynamical systems. However, the existing GPSSM employs separate Gaussian processes (GPs) for each latent state dimension,…

This paper studies trajectory optimization of an autonomous underwater vehicle (AUV) to track an unknown maneuvering target both in the 2D and 3D space. Due to the restrictions on sensing capabilities in the underwater scenario, the AUV is…

Variational inference methods for latent variable statistical models have gained popularity because they are relatively fast, can handle large data sets, and have deterministic convergence guarantees. However, in practice it is unclear…

Reasoning about human motion is a core component of modern human-robot interactive systems. In particular, one of the main uses of behavior prediction in autonomous systems is to inform robot motion planning and control. However, a majority…

We propose a projection pursuit (PP) algorithm based on Gaussian mixture models (GMMs). The negentropy obtained from a multivariate density estimated by GMMs is adopted as the PP index to be maximised. For a fixed dimension of the…

Collision avoidance in the presence of dynamic obstacles in unknown environments is one of the most critical challenges for unmanned systems. In this paper, we present a method that identifies obstacles in terms of ellipsoids to estimate…

Advancements in intelligent technologies have significantly improved navigation in complex traffic environments by enhancing environment perception and trajectory prediction for automated vehicles. However, current research often overlooks…

PHD filtering is a common and effective multiple object tracking (MOT) algorithm used in scenarios where the number of objects and their states are unknown. In scenarios where each object can generate multiple measurements per scan, some…

Traffic flow prediction is a big challenge for transportation authorities as it helps plan and develop better infrastructure. State-of-the-art models often struggle to consider the data in the best way possible, as well as intrinsic…

Effective understanding of the environment and accurate trajectory prediction of surrounding dynamic obstacles are critical for intelligent systems such as autonomous vehicles and wheeled mobile robotics navigating in complex scenarios to…

Accurately tracking and predicting behaviors of surrounding objects are key prerequisites for intelligent systems such as autonomous vehicles to achieve safe and high-quality decision making and motion planning. However, there still remain…

Deep learning-based multivariate and multistep-ahead traffic forecasting models are typically trained with the mean squared error (MSE) or mean absolute error (MAE) as the loss function in a sequence-to-sequence setting, simply assuming…

Human motion and behaviour in crowded spaces is influenced by several factors, such as the dynamics of other moving agents in the scene, as well as the static elements that might be perceived as points of attraction or obstacles. In this…

An accurate motion model is an important component in modern-day robotic systems, but building such a model for a complex system often requires an appreciable amount of manual effort. In this paper we present a motion model representation,…