相关论文: Collision Avoidance Safety Filter for an Autonomou…

In the dense fabric of urban areas, electric scooters have rapidly become a preferred mode of transportation. As they cater to modern mobility demands, they present significant safety challenges, especially when interacting with…

This paper introduces a safety filter to ensure collision avoidance for multirotor aerial robots. The proposed formalism leverages a single Composite Control Barrier Function from all position constraints acting on a third-order nonlinear…

The increasing adoption of electric scooters (e-scooters) in urban areas has coincided with a rise in traffic accidents and injuries, largely due to their small wheels, lack of suspension, and sensitivity to uneven surfaces. While deep…

The number of shared micro-mobility services such as electric scooters (e-scooters) has an increasing trend due to the advantages of high efficiency and low cost in short-range travel in urban areas. However, due to the unique…

Safe road-crossing by self-driving vehicles is a crucial problem to address in smart-cities. In this paper, we introduce a multi-sensor fusion approach to support road-crossing decisions in a system composed by an autonomous wheelchair and…

Modern autopilot systems are prone to sensor attacks that can jeopardize flight safety. To mitigate this risk, we proposed a modular solution: the secure safety filter, which extends the well-established control barrier function (CBF)-based…

In recent years, many control problems of autonomous mobile robots have been developed. In particular, the robots are required to be safe; that is, they need to be controlled to avoid colliding with people or objects while traveling. In…

Although extensive research in emergency collision avoidance has been carried out for straight or curved roads in a highway scenario, a general method that could be implemented for all road environments has not been thoroughly explored.…

Aiming to promote the wide adoption of safety filters for autonomous aerial robots, this paper presents a safe control architecture designed for seamless integration into widely used open-source autopilots. Departing from methods that…

In order to mitigate economical, ecological, and societal challenges in electric scooter (e-scooter) sharing systems, we develop an autonomous e-scooter prototype. Our vision is to design a fully autonomous prototype that can find its way…

We study a novel principle for safe and efficient collision avoidance that adopts a mathematically elegant and general framework abstracting as much as possible from the controlled vehicle's dynamics and of its environment. Vehicle dynamics…

In order for autonomous vehicles to become a part of the Intelligent Transportation Ecosystem, they are required to guarantee a particular level of safety. For that to happen a safe vehicle control algorithms need to be developed, which…

We design and experimentally evaluate a hybrid safe-by-construction collision avoidance controller for autonomous vehicles. The controller combines into a single architecture the respective advantages of an adaptive controller and a…

Autonomous collision avoidance requires accurate environmental perception; however, flight systems often possess limited sensing capabilities with field-of-view (FOV) restrictions. To navigate this challenge, we present a safety-aware…

Humans are remarkable at navigating and moving through dynamic and complex spaces, such as crowded streets. For robots to do the same, it is crucial that they are endowed with highly reactive obstacle avoidance robust to partial and poor…

This paper presents a secure safety filter design for nonlinear systems under sensor spoofing attacks. Existing approaches primarily focus on linear systems which limits their applications in real-world scenarios. In this work, we extend…

3D cameras have emerged as a critical source of information for applications in robotics and autonomous driving. These cameras provide robots with the ability to capture and utilize point clouds, enabling them to navigate their surroundings…

This paper presents a general end-to-end framework for constructing robust and reliable layered safety filters that can be leveraged to perform dynamic collision avoidance over a broad range of applications using only local perception data.…

Autonomous vehicles (AVs), equipped with numerous sensors such as camera, LiDAR, radar, and ultrasonic sensor, are revolutionizing the transportation industry. These sensors are expected to sense reliable information from a physical…

One of the most important aspects of autonomous systems is safety. This includes ensuring safe human-robot and safe robot-environment interaction when autonomously performing complex tasks or in collaborative scenarios. Although several…