相关论文: Occlusion-aware Risk Assessment and Driving Strate…

While the most visible part of the safety verification process of automated vehicles concerns the planning and control system, it is often overlooked that safety of the latter crucially depends on the fault-tolerance of the preceding…

We study the ability of autonomous vehicles to improve the throughput of a bottleneck using a fully decentralized control scheme in a mixed autonomy setting. We consider the problem of improving the throughput of a scaled model of the San…

Connected autonomous vehicles (CAVs) rely on vision-based deep neural networks (DNNs) and low-latency (Vehicle-to-Everything) V2X communication to navigate safely and efficiently. Despite their advances, these systems remain vulnerable to…

End-to-end paradigm has emerged as a promising approach to autonomous driving. However, existing single-agent end-to-end pipelines are often constrained by occlusion and limited perception range, resulting in hazardous driving. Furthermore,…

Predicting the motion of surrounding vehicles is key to safe autonomous driving, especially in unstructured environments without prior information. This paper proposes a novel online method to accurately predict the occupancy sets of…

Autonomous exploration of obstacle-rich spaces requires strategies that ensure efficiency while guaranteeing safety against collisions with obstacles. This paper investigates a novel platform-agnostic reinforcement learning framework that…

One of the critical challenges in automated driving is ensuring safety of automated vehicles despite the unknown behavior of the other vehicles. Although motion prediction modules are able to generate a probability distribution associated…

Overtaking is one of the most challenging tasks in driving, and the current solutions to autonomous overtaking are limited to simple and static scenarios. In this paper, we present a method for behaviour and trajectory planning for safe…

The development of autonomous driving technology must be inseparable from pedestrian detection. Because of the fast speed of the vehicle, the accuracy and real-time performance of the pedestrian detection algorithm are very important. YOLO,…

Path planning and collision avoidance are challenging in complex and highly variable environments due to the limited horizon of events. In literature, there are multiple model- and learning-based approaches that require significant…

Although ground robotic autonomy has gained widespread usage in structured and controlled environments, autonomy in unknown and off-road terrain remains a difficult problem. Extreme, off-road, and unstructured environments such as…

Occlusion-aware decision-making is essential in autonomous driving due to the high uncertainty of various occlusions. Recent occlusion-aware decision-making methods encounter issues such as high computational complexity, scenario…

A key step to driver safety is to observe the driver's activities with the face being a key step in this process to extracting information such as head pose, blink rate, yawns, talking to passenger which can then help derive higher level…

This paper presents fast non-sampling based methods to assess the risk of trajectories for autonomous vehicles when probabilistic predictions of other agents' futures are generated by deep neural networks (DNNs). The presented methods…

This paper introduces a real-time algorithm for navigating complex unknown environments cluttered with movable obstacles. Our algorithm achieves fast, adaptable routing by actively attempting to manipulate obstacles during path planning and…

Robust detection of vulnerable road users is a safety critical requirement for the deployment of autonomous vehicles in heterogeneous traffic. One of the most complex outstanding challenges is that of partial occlusion where a target object…

Autonomous aerial scanning of target structures is crucial for practical applications, requiring online adaptation to unknown obstacles during flight. Existing methods largely emphasize collision avoidance and efficiency, but overlook…

Path planning for autonomous vehicles in arbitrary environments requires a guarantee of safety, but this can be impractical to ensure in real-time when the vehicle is described with a high-fidelity model. To address this problem, this paper…

Autonomous vehicle navigation is a key challenge in artificial intelligence, requiring robust and accurate decision-making processes. This research introduces a new end-to-end method that exploits multimodal information from a single…

Motion planning in off-road environments requires reasoning about both the geometry and semantics of the scene (e.g., a robot may be able to drive through soft bushes but not a fallen log). In many recent works, the world is classified into…