相关论文: Stochastic COLREGs Evaluation for Safe Navigation …

Stochastic dynamical systems have emerged as fundamental models across numerous application domains, providing powerful mathematical representations for capturing uncertain system behavior. In this paper, we address the problem of runtime…

A machine learning technique is proposed for quantifying uncertainty in power system dynamics with spatiotemporally correlated stochastic forcing. We learn one-dimensional linear partial differential equations for the probability density…

Coastal flooding drives considerable risks to many communities, but projections of future flood risks are deeply uncertain. The paucity of observations of extreme events often motivates the use of statistical approaches to model the…

Inspired by human behavior when traveling over unknown terrain, this study proposes the use of probing strategies and integrates them into a traversability analysis framework to address safe navigation on unknown rough terrain. Our…

This paper considers risk-sensitive model predictive control for stochastic systems with a decision-dependent distribution. This class of systems is commonly found in human-robot interaction scenarios. We derive computationally tractable…

Underwater robot interventions require a high level of safety and reliability. A major challenge to address is a robust and accurate acquisition of localization estimates, as it is a prerequisite to enable more complex tasks, e.g. floating…

Autonomous navigation in unknown 3D environments is a key issue for intelligent transportation, while still being an open problem. Conventionally, navigation risk has been focused on mitigating collisions with obstacles, neglecting the…

Accurately knowing uncertainties in appearance-based gaze tracking is critical for ensuring reliable downstream applications. Due to the lack of individual uncertainty labels, current uncertainty-aware approaches adopt probabilistic models…

This study developed an explainable AI for ship collision avoidance. Initially, a critic network composed of sub-task critic networks was proposed to individually evaluate each sub-task in collision avoidance to clarify the AI…

Stochastic patrol routing is known to be advantageous in adversarial settings; however, the optimal choice of stochastic routing strategy is dependent on a model of the adversary. We adopt a worst-case omniscient adversary model from the…

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…

Understanding and adhering to traffic regulations is essential for autonomous vehicles to ensure safety and trustworthiness. However, traffic regulations are complex, context-dependent, and differ between regions, posing a major challenge…

Weather routing methods are essential for planning routes for commercial shipping and recreational craft. This paper provides a methodology for quantifying the significance of numerical error and performance model uncertainty on the…

In human-robot collaboration, unintentional physical contacts occur in the form of collisions and clamping, which must be detected and classified separately for a reaction. If certain collision or clamping situations are misclassified,…

Motion planning at urban intersections that accounts for the situation context, handles occlusions, and deals with measurement and prediction uncertainty is a major challenge on the way to urban automated driving. In this work, we address…

This work addresses the problem of vehicle path planning in the presence of obstacles and uncertainties, which is a fundamental problem in robotics. While many path planning algorithms have been proposed for decades, many of them have dealt…

Autonomous robots operating in unstructured, safety-critical environments, from planetary exploration to warehouses and homes, must learn to safely navigate and interact with their surroundings despite limited prior knowledge. Current…

Autonomous mobile robots need to perceive the environments with their onboard sensors (e.g., LiDARs and RGB cameras) and then make appropriate navigation decisions. In order to navigate human-inhabited public spaces, such a navigation task…

Uncontrolled intersections account for a significant fraction of roadway crashes due to ambiguous right-of-way rules, occlusions, and unpredictable driver behavior. While autonomous vehicle research has explored uncertainty-aware decision…

In this paper, we present an approach for designing correct-by-design controllers for cyber-physical systems composed of multiple dynamically interconnected uncertain systems. We consider networked discrete-time uncertain nonlinear systems…