相关论文: Trajectory Tracking via Multiscale Continuous Attr…

Continuous attractor networks (CANs) are a well-established class of models for representing low-dimensional continuous variables such as head direction, spatial position, and phase. In canonical spatial domains, transitions along the…

Automated tracking of animal movement allows analyses that would not otherwise be possible by providing great quantities of data. The additional capability of tracking in realtime - with minimal latency - opens up the experimental…

Many robotic systems must follow planned paths yet pause safely and resume when people or objects intervene. We present an output-space method for systems whose tracked output can be feedback-linearized to a double integrator (e.g.,…

Dynamical systems theory and complexity science provide powerful tools for analysing artificial agents and robots. Furthermore, they have been recently proposed also as a source of design principles and guidelines. Boolean networks are a…

Simultaneous localization and mapping (SLAM) systems with novel view synthesis capabilities are widely used in computer vision, with applications in augmented reality, robotics, and autonomous driving. However, existing approaches are…

This paper presents a coupled, neural network-aided longitudinal cruise and lateral path-tracking controller for an autonomous vehicle with model uncertainties and experiencing unknown external disturbances. Using a feedback error learning…

In this work, we have implemented a SLAM-assisted navigation module for a real autonomous vehicle with unknown dynamics. The navigation objective is to reach a desired goal configuration along a collision-free trajectory while adhering to…

Autonomous driving technology is progressing rapidly, largely due to complex End To End systems based on deep neural networks. While these systems are effective, their complexity can make it difficult to understand their behavior, raising…

Harvesting dense pixel-level annotations to train deep neural networks for semantic segmentation is extremely expensive and unwieldy at scale. While learning from synthetic data where labels are readily available sounds promising,…

Dynamic System Identification approaches usually heavily rely on the evolutionary and gradient-based optimisation techniques to produce optimal excitation trajectories for determining the physical parameters of robot platforms. Current…

In dynamic environments, performance of visual SLAM techniques can be impaired by visual features taken from moving objects. One solution is to identify those objects so that their visual features can be removed for localization and…

Metric ground navigation addresses the problem of autonomously moving a robot from one point to another in an obstacle-occupied planar environment in a collision-free manner. It is one of the most fundamental capabilities of intelligent…

Spatial trajectories are ubiquitous and complex signals. Their analysis is crucial in many research fields, from urban planning to neuroscience. Several approaches have been proposed to cluster trajectories. They rely on hand-crafted…

Motion behaviour is driven by several factors -- goals, presence and actions of neighbouring agents, social relations, physical and social norms, the environment with its variable characteristics, and further. Most factors are not directly…

Lane-changing is an important driving behavior and unreasonable lane changes can result in potentially dangerous traffic collisions. Advanced Driver Assistance System (ADAS) can assist drivers to change lanes safely and efficiently. To…

The multi-modality and stochastic characteristics of human behavior make motion prediction a highly challenging task, which is critical for autonomous driving. While deep learning approaches have demonstrated their great potential in this…

This paper proposes a Model Predictive Control (MPC) algorithm for target tracking amongst static and dynamic obstacles. Our main contribution lies in improving the computational tractability and reliability of the underlying non-convex…

Traditional Simultaneous Localization and Mapping (SLAM) algorithms rely heavily on the static environment assumption, which severely limits their applicability in real-world spaces populated by moving entities, such as pedestrians. In this…

In spite of the great progress in human motion prediction, it is still a challenging task to predict those aperiodic and complicated motions. We believe that to capture the correlations among human body components is the key to understand…

We present a novel algorithm (DeepMNavigate) for global multi-agent navigation in dense scenarios using deep reinforcement learning (DRL). Our approach uses local and global information for each robot from motion information maps. We use a…