相关论文: Interaction-Aware Sampling-Based MPC with Learned …

The rising presence of autonomous vehicles (AVs) on public roads necessitates the development of advanced control strategies that account for the unpredictable nature of human-driven vehicles (HVs). This study introduces a learning-based…

Motion planning is a crucial aspect of robot autonomy as it involves identifying a feasible motion path to a destination while taking into consideration various constraints, such as input, safety, and performance constraints, without…

Significant progress has been made in training multimodal trajectory forecasting models for autonomous driving. However, effectively integrating these models with downstream planners and model-based control approaches is still an open…

A crucial challenge to efficient and robust motion planning for autonomous vehicles is understanding the intentions of the surrounding agents. Ignoring the intentions of the other agents in dynamic environments can lead to risky or…

Human-aware robot navigation promises a range of applications in which mobile robots bring versatile assistance to people in common human environments. While prior research has mostly focused on modeling pedestrians as independent,…

This paper proposes a novel control method for an autonomous wheel loader, enabling time-efficient navigation to an arbitrary goal pose. Unlike prior works which combine high-level trajectory planners with Model Predictive Control (MPC), we…

We present a motion planning algorithm to compute collision-free and smooth trajectories for high-DOF robots interacting with humans in a shared workspace. Our approach uses offline learning of human actions along with temporal coherence to…

The navigation of robots in dynamic urban environments, requires elaborated anticipative strategies for the robot to avoid collisions with dynamic objects, like bicycles or pedestrians, and to be human aware. We have developed and analyzed…

This paper proposes an intent-aware multi-agent planning framework as well as a learning algorithm. Under this framework, an agent plans in the goal space to maximize the expected utility. The planning process takes the belief of other…

A critical aspect of safe and efficient motion planning for autonomous vehicles (AVs) is to handle the complex and uncertain behavior of surrounding human-driven vehicles (HDVs). Despite intensive research on driver behavior prediction,…

Building autonomous mobile robots (AMRs) with optimized efficiency and adaptive capabilities-able to respond to changing task demands and dynamic environments-is a strongly desired goal for advancing construction robotics. Such robots can…

Navigation strategies that intentionally incorporate contact with humans (i.e. "contact-based" social navigation) in crowded environments are largely unexplored even though collision-free social navigation is a well studied problem.…

Motion prediction for intelligent vehicles typically focuses on estimating the most probable future evolutions of a traffic scenario. Estimating the gap acceptance, i.e., whether a vehicle merges or crosses before another vehicle with the…

The ability to update a path plan is a required capability for autonomous mobile robots navigating through uncertain environments. This paper proposes a re-planning strategy using a multilayer planning and control framework for cases where…

Autonomous agents that drive on roads shared with human drivers must reason about the nuanced interactions among traffic participants. This poses a highly challenging decision making problem since human behavior is influenced by a multitude…

Trajectory forecasting, or trajectory prediction, of multiple interacting agents in dynamic scenes, is an important problem for many applications, such as robotic systems and autonomous driving. The problem is a great challenge because of…

Most traffic flow control algorithms address switching cycle adaptation of traffic signals and lights. This work addresses traffic flow optimisation by self-organising micro-level control combining Reinforcement Learning and rule-based…

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…

Autonomous navigation in dense traffic scenarios remains challenging for autonomous vehicles (AVs) because the intentions of other drivers are not directly observable and AVs have to deal with a wide range of driving behaviors. To maneuver…

We study the problem of safe and intention-aware robot navigation in dense and interactive crowds. Most previous reinforcement learning (RL) based methods fail to consider different types of interactions among all agents or ignore the…