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

While most prior research has focused on improving the precision of multimodal trajectory predictions, the explicit modeling of multimodal behavioral intentions (e.g., yielding, overtaking) remains relatively underexplored. This paper…

For autonomous driving in highly dynamic environments, it is anticipated to predict the future behaviors of surrounding vehicles (SVs) and make safe and effective decisions. However, modeling the inherent coupling effect between the…

Ensuring safe behavior for automated vehicles in unregulated traffic areas poses a complex challenge for the industry. It is an open problem to provide scalable and certifiable solutions to this challenge. We derive a trajectory planner…

One of the challenges to reduce the gap between the machine and the human level driving is how to endow the system with the learning capacity to deal with the coupled complexity of environments, intentions, and dynamics. In this paper, we…

This paper presents a white-box intention-aware decision-making for the handling of interactions between a pedestrian and an automated vehicle (AV) in an unsignalized street crossing scenario. Moreover, a design framework has been…

In this paper, we present a motion planning strategy for UAVs that generates a time-optimal trajectory to survey a given target area. There are several situations where completing an aerial survey is time sensitive, such as gaining…

Anticipating driver intention is an important task when vehicles of mixed and varying levels of human/machine autonomy share roadways. Driver intention can be leveraged to improve road safety, such as warning surrounding vehicles in the…

Game-theoretic motion planners are a potent solution for controlling systems of multiple highly interactive robots. Most existing game-theoretic planners unrealistically assume a priori objective function knowledge is available to all…

Detecting and predicting the behavior of pedestrians is extremely crucial for self-driving vehicles to plan and interact with them safely. Although there have been several research works in this area, it is important to have fast and memory…

The booming air transportation industry inevitably burdens air traffic controllers' workload, causing unexpected human factor-related incidents. Current air traffic control systems fail to consider spoken instructions for traffic…

The pursuit of improved accuracy in recommender systems has led to the incorporation of user context. Context-aware recommender systems typically handle large amounts of data which must be uploaded and stored on the cloud, putting the…

Vessel trajectory prediction is fundamental to intelligent maritime systems. Within this domain, short-term prediction of rapid behavioral changes in complex maritime environments has established multimodal trajectory prediction (MTP) as a…

In this paper, an adaptive super-twisting controller is designed for an agile maneuvering quadrotor unmanned aerial vehicle to achieve accurate trajectory tracking in the presence of external disturbances. A cascaded control architecture is…

While end-to-end autonomous driving has achieved remarkable progress in geometric control, current systems remain constrained by a command-following paradigm that relies on simple navigational instructions. Transitioning to genuinely…

Trajectory prediction is one of the key capabilities for robots to safely navigate and interact with pedestrians. Critical insights from human intention and behavioral patterns need to be integrated to effectively forecast long-term…

This work investigates an efficient trajectory generation for chasing a dynamic target, which incorporates the detectability objective. The proposed method actively guides the motion of a cinematographer drone so that the color of a target…

This paper investigates optimal takeoff trajectory planning for a quadrotor modeled with vertical-plane rigid body dynamics in an uncertain, one-dimensional wind-field. The wind-field varies horizontally and propagates across an operating…

Within this work, we explore intention inference for user actions in the context of a handheld robot setup. Handheld robots share the shape and properties of handheld tools while being able to process task information and aid manipulation.…

Motion planning is an essential process for the navigation of unmanned aerial vehicles (UAVs) where they need to adapt to obstacles and different structures of their operating environment to reach the goal. This paper presents an optimal…

Recognising intent in collaborative human robot tasks can improve team performance and human perception of robots. Intent can differ from the observed outcome in the presence of mistakes which are likely in physically dynamic tasks. We…