相关论文: SRPT vs Smith Predictor for Vehicle Teleoperation

Vehicle teleoperation is an interesting feature in many fields. A typical problem of teleoperation is communication time delay which, together with actuator saturation and environmental disturbance, can cause a vehicle deviation from the…

Vehicle teleoperation has numerous potential applications, including serving as a backup solution for autonomous vehicles, facilitating remote delivery services, and enabling hazardous remote operations. However, complex urban scenarios,…

Teleoperation provides human operator sophisticated perceptual and cognitive skills into an over the network control loop. It gives hope of addressing some challenges related to vehicular autonomy which is based on artificial intelligence…

Autonomous driving is among the most promising of upcoming traffic safety technologies. Prototypes of autonomous vehicles are already being tested on public streets today. However, while current prototypes prove the feasibility of truly…

Vehicular Ad Hoc Network has attracted both research and industrial community due to its benefits in facilitating human life and enhancing the security and comfort. However, various issues have been faced in such networks such as…

Despite the rapid technological progress, autonomous vehicles still face a wide range of complex driving situations that require human intervention. Teleoperation technology offers a versatile and effective way to address these challenges.…

This paper presents a novel approach to coordinated vehicle platooning, where the platoon followers communicate solely with the platoon leader. A dynamic model is proposed to account for driving safety under communication delays. General…

We address the problem of motion planning for four-way intersection crossings with right-of-ways. Road safety typically assigns liability to the follower in rear-end collisions and to the approaching vehicle required to yield in side…

In the field of robotics, robot teleoperation for remote or hazardous environments has become increasingly vital. A major challenge is the lag between command and action, negatively affecting operator awareness, performance, and mental…

Space-Time Projection (STP) is introduced as a data-driven forecasting approach for high-dimensional and time-resolved data. The method computes extended space-time proper orthogonal modes from training data spanning a prediction horizon…

Autonomous cars can reduce road traffic accidents and provide a safer mode of transport. However, key technical challenges, such as safe navigation in complex urban environments, need to be addressed before deploying these vehicles on the…

Shortest Remaining Processing Time (SRPT) is a well known preemptive scheduling algorithm for uniprocessor and multiprocessor systems. SRPT finds applications in the emerging areas such as scheduling of client's requests that are submitted…

Stochastic communication delays in teleoperation introduce signal discontinuities that undermine control stability and degrade control performance. Consequently, the conventional reinforcement learning (RL) methods struggle with the delayed…

Haptic feedback can improve safety of teleoperated robots when situational awareness is limited or operators are inattentive. Standard potential field approaches increase haptic resistance as an obstacle is approached, which is desirable…

This paper addresses the challenge of achieving stable adaptive teleoperation and improving the convergence rate in the presence of high communication time delays. We employ a passivity-based formalism to establish stability using wave…

Pick-and-place is one of the fundamental tasks in robotics research. However, the attention has been mostly focused on the ``pick'' task, leaving the ``place'' task relatively unexplored. In this paper, we address the problem of placing…

Soft robots are increasingly used in healthcare, especially for assistive care, due to their inherent safety and adaptability. Controlling soft robots is challenging due to their nonlinear dynamics and the presence of time delays,…

Existing FPV object tracking methods heavily rely on handcrafted modular pipelines, which incur high onboard computation and cumulative errors. While learning-based approaches have mitigated computational delays, most still generate only…

Trajectory prediction is a critical functionality of autonomous systems that share environments with uncontrolled agents, one prominent example being self-driving vehicles. Currently, most prediction methods do not enforce scene…

Recent work introduced the concept of human teleoperation (HT), where the remote robot typically considered in conventional bilateral teleoperation is replaced by a novice person wearing a mixed reality head mounted display and tracking the…