相关论文: Vehicle Dynamics Modeling for Autonomous Racing Us…

We consider the challenging problem of high speed autonomous racing in a realistic Formula One environment. DeepRacing is a novel end-to-end framework, and a virtual testbed for training and evaluating algorithms for autonomous racing. The…

Safety is an essential aspect in the facilitation of automated vehicle deployment. Current testing practices are not enough, and going beyond them leads to infeasible testing requirements, such as needing to drive billions of kilometres on…

Autonomous racing is a research field gaining large popularity, as it pushes autonomous driving algorithms to their limits and serves as a catalyst for general autonomous driving. For scaled autonomous racing platforms, the computational…

Fully autonomous vehicles promise enhanced safety and efficiency. However, ensuring reliable operation in challenging corner cases requires control algorithms capable of performing at the vehicle limits. We address this requirement by…

Videos of robots interacting with objects encode rich information about the objects' dynamics. However, existing video prediction approaches typically do not explicitly account for the 3D information from videos, such as robot actions and…

Driving on the limits of vehicle dynamics requires predictive planning of future vehicle states. In this work, a search-based motion planning is used to generate suitable reference trajectories of dynamic vehicle states with the goal to…

High dimensional time series are endemic in applications of machine learning such as robotics (sensor data), computational biology (gene expression data), vision (video sequences) and graphics (motion capture data). Practical nonlinear…

Generating overtaking trajectories in autonomous racing is a challenging task, as the trajectory must satisfy the vehicle's dynamics and ensure safety and real-time performance running on resource-constrained hardware. This work proposes…

Evaluating distance to collision for robot manipulators is useful for assessing the feasibility of a robot configuration or for defining safe robot motion in unpredictable environments. However, distance estimation is a timeconsuming…

The F1TENTH autonomous driving platform, consisting of 1:10-scale remote-controlled cars, has evolved into a well-established education and research platform. The many publications and real-world competitions span many domains, from…

Real-world robots are becoming increasingly complex and commonly act in poorly understood environments where it is extremely challenging to model or learn their true dynamics. Therefore, it might be desirable to take a task-specific…

Analysis of heterogeneous patterns in complex spatio-temporal data finds usage across various domains in applied science and engineering, including training autonomous vehicles to navigate in complex traffic scenarios. Motivated by…

Models for vehicle dynamics play an important role in maneuver planning for automated driving. They are used to derive trajectories from given control inputs, or to evaluate a given trajectory in terms of constraint violation or optimality…

Modeling stochastic traffic dynamics is critical to developing self-driving cars. Because it is difficult to develop first principle models of cars driven by humans, there is great potential for using data driven approaches in developing…

We propose a robust nonlinear model predictive control (MPC) scheme for trajectory-tracking control of autonomous vehicles at the limits of handling on non-planar road surfaces. We derive the dynamics from first principles and selectively…

Learning from Demonstration (LfD) is a paradigm that allows robots to learn complex manipulation tasks that can not be easily scripted, but can be demonstrated by a human teacher. One of the challenges of LfD is to enable robots to acquire…

A Gaussian process (GP)-based methodology is proposed to emulate complex dynamical computer models (or simulators). The method relies on emulating the numerical flow map of the system over an initial (short) time step, where the flow map is…

In Gaussian Process (GP) dynamical model learning for robot control, particularly for systems constrained by computational resources like small quadrotors equipped with low-end processors, analyzing stability and designing a stable…

Model selection in Gaussian processes scales prohibitively with the size of the training dataset, both in time and memory. While many approximations exist, all incur inevitable approximation error. Recent work accounts for this error in the…

Understanding driver interactions is critical to designing autonomous vehicles to interoperate safely with human-driven cars. We consider the impact of these interactions on the policies drivers employ when navigating unsigned intersections…