相关论文: Intention-Aware Planner for Robust and Safe Aerial…

High-speed trajectory planning through unknown environments requires algorithmic techniques that enable fast reaction times while maintaining safety as new information about the operating environment is obtained. The requirement of…

Intention prediction has become a relevant field of research in Human-Machine and Human-Robot Interaction. Indeed, any artificial system (co)-operating with and along humans, designed to assist and coordinate its actions with a human…

This paper addresses the problem of detecting radioactive material in transit using an UAV of minimal sensing capability, where the objective is to classify the target's radioactivity as the vehicle plans its paths through the workspace…

Continuum robots are well suited for navigating confined and fragile environments, such as vascular or endoluminal anatomy, where contact with surrounding structures is often unavoidable. While controlled contact can assist motion,…

In autonomous driving, accurately predicting the movements of other traffic participants is crucial, as it significantly influences a vehicle's planning processes. Modern trajectory prediction models strive to interpret complex patterns and…

Accurate trajectory prediction of road agents (e.g., pedestrians, vehicles) is an essential prerequisite for various intelligent systems applications, such as autonomous driving and robotic navigation. Recent research highlights the…

In order to plan a safe maneuver, self-driving vehicles need to understand the intent of other traffic participants. We define intent as a combination of discrete high-level behaviors as well as continuous trajectories describing future…

Autonomous aircraft must safely operate in non-towered airspace, where coordination relies on voice-based communication among human pilots. Safe operation requires an aircraft to predict the intent, and corresponding goal location, of other…

Motion planning is a critical module in autonomous driving, with the primary challenge of uncertainty caused by interactions with other participants. As most previous methods treat prediction and planning as separate tasks, it is difficult…

In order to be globally deployed, autonomous cars must guarantee the safety of pedestrians. This is the reason why forecasting pedestrians' intentions sufficiently in advance is one of the most critical and challenging tasks for autonomous…

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…

Autonomous flight in unknown environments requires precise spatial and temporal trajectory planning, often involving computationally expensive nonconvex optimization prone to local optima. To overcome these challenges, we present the…

Proactively perceiving others' intentions is a crucial skill to effectively interact in unstructured, dynamic and novel environments. This work proposes a first step towards embedding this skill in support robots for search and rescue…

Haptic guidance in a shared steering assistance system has drawn significant attention in intelligent vehicle fields, owing to its mutual communication ability for vehicle control. By exerting continuous torque on the steering wheel, both…

In mixed-traffic environments, autonomous vehicles (AVs) must interact with heterogeneous human-driven vehicles (HVs) whose intentions and driving styles vary across individuals and scenarios. Such variability introduces uncertainty into…

We propose a Deep RObust Goal-Oriented trajectory prediction Network (DROGON) for accurate vehicle trajectory prediction by considering behavioral intentions of vehicles in traffic scenes. Our main insight is that the behavior (i.e.,…

It is well established that humans decision making and instrumental control uses multiple systems, some which use habitual action selection and some which require deliberate planning. Deliberate planning systems use predictions of…

Robotic catching of flying objects typically generates high impact forces that might lead to task failure and potential hardware damages. This is accentuated when the object mass to robot payload ratio increases, given the strong inertial…

Various studies on perception-aware planning have been proposed to enhance the state estimation accuracy of quadrotors in visually degraded environments. However, many existing methods heavily rely on prior environmental knowledge and face…

Trajectory prediction is one of the key components of the autonomous driving software stack. Accurate prediction for the future movement of surrounding traffic participants is an important prerequisite for ensuring the driving efficiency…