相关论文: Robust Autonomous Vehicle Pursuit without Expert S…

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…

This paper presents an experimental study of a path-tracking framework for autonomous vehicles in which the lateral control command is applied to a dynamic control point along the wheelbase. Instead of enforcing a fixed reference at either…

In this work, we study vision-based end-to-end reinforcement learning on vehicle control problems, such as lane following and collision avoidance. Our controller policy is able to control a small-scale robot to follow the right-hand lane of…

To navigate safely in urban environments, an autonomous vehicle (ego vehicle) must understand and anticipate its surroundings, in particular the behavior and intents of other road users (neighbors). Most of the times, multiple decision…

Conventional trajectory planning approaches for autonomous racing are based on the sequential execution of prediction of the opposing vehicles and subsequent trajectory planning for the ego vehicle. If the opposing vehicles do not react to…

In this paper, we consider the problem of controlling an underactuated system in unknown, and potentially adversarial environments. The emphasis will be on autonomous aerial vehicles, modelled by Dubins dynamics. The proposed control law is…

Trajectory prediction and planning are essential for autonomous vehicles to navigate safely and efficiently in dynamic environments. Traditional approaches often treat them separately, limiting the ability for interactive planning. While…

Deep learning has revolutionized the ability to learn "end-to-end" autonomous vehicle control directly from raw sensory data. While there have been recent extensions to handle forms of navigation instruction, these works are unable to…

This work addresses the unsupervised adaptation of an existing object detector to a new target domain. We assume that a large number of unlabeled videos from this domain are readily available. We automatically obtain labels on the target…

Uncertainty in decision-making is crucial in the machine learning model used for a safety-critical system that operates in the real world. Therefore, it is important to handle uncertainty in a graceful manner for the safe operation of the…

This work presents a case study of a learning-based approach for target driven map-less navigation. The underlying navigation model is an end-to-end neural network which is trained using a combination of expert demonstrations, imitation…

This paper presents a combined strategy for tracking a non-holonomic mobile robot which works under certain operating conditions for system parameters and disturbances. The strategy includes kinematic steering and velocity dynamics learning…

Autonomous car racing is a challenging task in the robotic control area. Traditional modular methods require accurate mapping, localization and planning, which makes them computationally inefficient and sensitive to environmental changes.…

Planning the trajectory of the controlled ego vehicle is a key challenge in automated driving. As for human drivers, predicting the motions of surrounding vehicles is important to plan the own actions. Recent motion prediction methods…

We propose and validate a novel car following model based on deep reinforcement learning. Our model is trained to maximize externally given reward functions for the free and car-following regimes rather than reproducing existing follower…

Nowadays, autonomous vehicles are gaining traction due to their numerous potential applications in resolving a variety of other real-world challenges. However, developing autonomous vehicles need huge amount of training and testing before…

We propose a method to tackle the problem of mapless collision-avoidance navigation where humans are present using 2D laser scans. Our proposed method uses ego-safety to measure collision from the robot's perspective while social-safety to…

The goal of autonomous vehicles is to navigate public roads safely and comfortably. To enforce safety, traditional planning approaches rely on handcrafted rules to generate trajectories. Machine learning-based systems, on the other hand,…

Urban autonomous driving decision making is challenging due to complex road geometry and multi-agent interactions. Current decision making methods are mostly manually designing the driving policy, which might result in sub-optimal solutions…

Safe motion planning for robotic systems in dynamic environments is nontrivial in the presence of uncertain obstacles, where estimation of obstacle uncertainties is crucial in predicting future motions of dynamic obstacles. The worst-case…