相关论文: Stochastic COLREGs Evaluation for Safe Navigation …

Reconstructions of Lagrangian drift, for example for objects lost at sea, are often uncertain due to unresolved physical phenomena within the data. Uncertainty is usually overcome by introducing stochasticity into the drift, but this…

Balancing safety and efficiency when planning in dense traffic is challenging. Interactive behavior planners incorporate prediction uncertainty and interactivity inherent to these traffic situations. Yet, their use of single-objective…

Collision avoidance algorithms for Autonomous Surface Vehicles (ASV) that follow the Convention on the International Regulations for Preventing Collisions at Sea (COLREGs) have been proposed in recent years. However, it may be difficult and…

When a machine learning model is deployed, its predictions can alter its environment, as better informed agents strategize to suit their own interests. With such alterations in mind, existing approaches to uncertainty quantification break.…

Precisely tracking uncertainties is crucial for robots to successfully and safely operate in unstructured and dynamic environments. We present a probabilistic framework to precisely keep track of uncertainties throughout the entire…

For robot swarms operating on complex missions in an uncertain environment, it is important that the decision-making algorithm considers both heterogeneity and uncertainty. This paper presents a stochastic programming framework for the…

A novel approach for robust state estimation of marine vessels in rough water is proposed in this paper to enable tight collaboration between Unmanned Aerial Vehicles (UAVs) and a marine vessel, such as cooperative landing or object…

Environment perception is the task for intelligent vehicles on which all subsequent steps rely. A key part of perception is to safely detect other road users such as vehicles, pedestrians, and cyclists. With modern deep learning techniques…

This paper proposes a new stochastic model of traffic dynamics in Lagrangian coordinates. The source of uncertainty is heterogeneity in driving behavior, captured using driver-specific speed-spacing relations, i.e., parametric uncertainty.…

A significant barrier to deploying autonomous vehicles (AVs) on a massive scale is safety assurance. Several technical challenges arise due to the uncertain environment in which AVs operate such as road and weather conditions, errors in…

We consider stochastic model predictive control of a multi-agent systems with constraints on the probabilities of inter-agent collisions. We first study a sample-based approximation of the collision probabilities and use this approximation…

Robotic systems are more present in our society everyday. In human-robot environments, it is crucial that end-users may correctly understand their robotic team-partners, in order to collaboratively complete a task. To increase action…

In this paper, we address the problem of uncertainty propagation through nonlinear stochastic dynamical systems. More precisely, given a discrete-time continuous-state probabilistic nonlinear dynamical system, we aim at finding the sequence…

All-day and all-weather navigation is a critical capability for autonomous driving, which requires proper reaction to varied environmental conditions and complex agent behaviors. Recently, with the rise of deep learning, end-to-end control…

The advancement of robotics and autonomous navigation systems hinges on the ability to accurately predict terrain traversability. Traditional methods for generating datasets to train these prediction models often involve putting robots into…

Aerodynamic optimization is ubiquitous in the design of most engineering systems interacting with fluids. A common approach is to optimize a performance function defined by a choice of an aerodynamic model, e.g., turbulence RANS model, and…

We consider a new control strategy for marine navigation, equipped with finite-time convergence characteristics. We provide mathematical guarantees for waypoint reaching and obstacle avoidance for different encounter scenarios, by deriving…

We present a risk-aware formalism for evaluating system trajectories in the presence of uncertain interactions between the system and its environment. The proposed formalism supports reasoning under uncertainty and systematically handles…

Mobile robots are traditionally developed to be reactive and avoid collisions with surrounding humans, often moving in unnatural ways without following social protocols, forcing people to behave very differently from human-human interaction…

The global expansion of maritime activities and the development of the Automatic Identification System (AIS) have driven the advances in maritime monitoring systems in the last decade. Monitoring vessel behavior is fundamental to safeguard…