相关论文: DRIVE: Data-driven Robot Input Vector Exploration

An alternative data-driven modeling approach has been proposed and employed to gain fundamental insights into robot motion interaction with granular terrain at certain length scales. The approach is based on an integration of dimension…

Deep Reinforcement Learning (DRL) is gaining attention as a potential approach to design trajectories for autonomous unmanned aerial vehicles (UAV) used as flying access points in the context of cellular or Internet of Things (IoT)…

Self-driving laboratories offer a promising path toward reducing the labor-intensive, time-consuming, and often irreproducible workflows in the biological sciences. Yet their stringent precision requirements demand highly robust models…

Ensuring the safety of road vehicles at an acceptable level requires the absence of any unreasonable risk arising from all potential hazards linked to the intended au-tomated driving function and its implementation. The assurance that there…

We present a passive, data-driven velocity control method for nonlinear robotic manipulators that achieves better tracking performance than optimized PID with comparable design complexity. Using only three minutes of probing data, a…

In the context of urban autonomous driving, imitation learning-based methods have shown remarkable effectiveness, with a typical practice to minimize the discrepancy between expert driving logs and predictive decision sequences. As expert…

Detecting drifts in data is essential for machine learning applications, as changes in the statistics of processed data typically has a profound influence on the performance of trained models. Most of the available drift detection methods…

With growing complexity and criticality of automated driving functions in road traffic and their operational design domains (ODD), there is increasing demand for covering significant proportions of development, validation, and verification…

Autonomous vehicle (AV) stacks have traditionally relied on decomposed approaches, with separate modules handling perception, prediction, and planning. However, this design introduces information loss during inter-module communication,…

Most existing autonomous-driving datasets (e.g., KITTI, nuScenes, and the Waymo Perception Dataset), collected by human-driving mode or unidentified driving mode, can only serve as early training for the perception and prediction of…

UAVs equipped with a single depth camera encounter significant challenges in dynamic obstacle avoidance due to limited field of view and inevitable blind spots. While active vision strategies that steer onboard cameras have been proposed to…

Autonomous navigation in unknown complex environment is still a hard problem, especially for small Unmanned Aerial Vehicles (UAVs) with limited computation resources. In this paper, a neural network-based reactive controller is proposed for…

This paper proposes a data-driven method for learning convergent control policies from offline data using Contraction theory. Contraction theory enables constructing a policy that makes the closed-loop system trajectories inherently…

In this paper, we propose a reinforcement learning-based algorithm for trajectory optimization for constrained dynamical systems. This problem is motivated by the fact that for most robotic systems, the dynamics may not always be known.…

It is important for robots to be able to decide whether they can go through a space or not, as they navigate through a dynamic environment. This capability can help them avoid injury or serious damage, e.g., as a result of running into…

Distance-based reward mechanisms in deep reinforcement learning (DRL) navigation systems suffer from critical safety limitations in dynamic environments, frequently resulting in collisions when visibility is restricted. We propose DRL-NSUO,…

Automated driving applications require accurate vehicle specific models to precisely predict and control the motion dynamics. However, modern vehicles have a wide array of digital and mechatronic components that are difficult to model,…

Moving in dynamic pedestrian environments is one of the important requirements for autonomous mobile robots. We present a model-based reinforcement learning approach for robots to navigate through crowded environments. The navigation policy…

This paper experimentally demonstrates the effectiveness of an anticipative car-following algorithm in reducing energy use of gasoline engine and electric Connected and Automated Vehicles (CAV), without sacrificing safety and traffic flow.…

Many optimization tasks involve streaming data with unknown concept drifts, posing a significant challenge as Streaming Data-Driven Optimization (SDDO). Existing methods, while leveraging surrogate model approximation and historical…