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

This paper explores the feasibility of employing EEG-based intention detection for real-time robot assistive control. We focus on predicting and distinguishing motor intentions of left/right arm movements by presenting: i) an offline data…

In teleoperation, research has mainly focused on target approaching, where we deal with the more challenging object manipulation task by advancing the shared control technique. Appropriately manipulating an object is challenging due to the…

In several application areas, such as human computer interaction, surveillance and defence, determining the intent of a tracked object enables systems to aid the user/operator and facilitate effective, possibly automated, decision making.…

In drone racing, the time-minimum trajectory is affected by the drone's capabilities, the layout of the race track, and the configurations of the gates (e.g., their shapes and sizes). However, previous studies neglect the configuration of…

The ability to accurately predict feasible multimodal future trajectories of surrounding traffic participants is crucial for behavior planning in autonomous vehicles. The Motion Transformer (MTR), a state-of-the-art motion prediction…

This paper develops a path planner that minimizes risk (e.g. motion execution) while maximizing accumulated reward (e.g., quality of sensor viewpoint) motivated by visual assistance or tracking scenarios in unstructured or confined…

In many robotic tasks, such as autonomous drone racing, the goal is to travel through a set of waypoints as fast as possible. A key challenge for this task is planning the time-optimal trajectory, which is typically solved by assuming…

Collision avoidance capability is an essential component in an autonomous vessel navigation system. To this end, an accurate prediction of dynamic obstacle trajectories is vital. Traditional approaches to trajectory prediction face…

Motion planners for mobile robots in unknown environments face the challenge of simultaneously maintaining both robustness against unmodeled uncertainties and persistent feasibility of the trajectory-finding problem. That is, while dealing…

Trajectory planning is a key piece in the algorithmic architecture of a robot. Trajectory planners typically use iterative optimization schemes for generating smooth trajectories that avoid collisions and are optimal for tracking given the…

Intention prediction is a crucial task for Autonomous Driving (AD). Due to the variety of size and layout of intersections, it is challenging to predict intention of human driver at different intersections, especially unseen and irregular…

A major challenge in autonomous flights is unknown disturbances, which can jeopardize safety and lead to collisions, especially in obstacle-rich environments. This paper presents a disturbance-aware motion planning and control framework…

Perching on the moving platforms is a promising solution to enhance the endurance and operational range of quadrotors, which could benefit the efficiency of a variety of air-ground cooperative tasks. To ensure robust perching, tracking with…

An important capability of autonomous Unmanned Aerial Vehicles (UAVs) is autonomous landing while avoiding collision with obstacles in the process. Such capability requires real-time local trajectory planning. Although trajectory-planning…

Rotor failures in quadrotors may result in high-speed rotation and vibration due to rotor imbalance, which introduces significant challenges for autonomous flight in unknown environments. The mainstream approaches against rotor failures…

For accomplishing a variety of missions in challenging environments, the capability of navigating with full autonomy while avoiding unexpected obstacles is the most crucial requirement for UAVs in real applications. In this paper, we…

In the domain of autonomous household robots, it is of utmost importance for robots to understand human behaviors and provide appropriate services. This requires the robots to possess the capability to analyze complex human behaviors and…

Driver intention prediction seeks to anticipate drivers' actions by analyzing their behaviors with respect to surrounding traffic environments. Existing approaches primarily focus on late-fusion techniques, and neglect the importance of…

As the market for commercially available unmanned aerial vehicles (UAVs) booms, there is an increasing number of small, teleoperated or autonomous aircraft found in protected or sensitive airspace. Existing solutions for removal of these…

This paper addresses a UAV path planning task that seeks to observe a set of objects while satisfying the observation quality constraint. A dynamic programming algorithm is proposed that enables the UAV to observe the target objects with…