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

In many human-in-the-loop robotic applications such as robot-assisted surgery and remote teleoperation, predicting the intended motion of the human operator may be useful for successful implementation of shared control, guidance virtual…

This paper presents a novel multimodal perception system for a real open environment. The proposed system includes an embedded computation platform, cameras, ultrasonic sensors, GPS, and IMU devices. Unlike the traditional frameworks, our…

Finding obstacle-free paths in unknown environments is a big navigation issue for visually impaired people and autonomous robots. Previous works focus on obstacle avoidance, however they do not have a general view of the environment they…

End-to-end vision-based autonomous driving has achieved impressive success, but safety remains a major concern. The safe control problem has been addressed in low-dimensional settings using safety filters, e.g., those based on control…

Walking while using a smartphone is becoming a major pedestrian safety concern as people may unknowingly bump into various obstacles that could lead to severe injuries. In this paper, we propose ObstacleWatch, an acoustic-based obstacle…

This work uses vector field inequalities (VFI) to prevent robot self-collisions and collisions with the workspace. Differently from previous approaches, the method is suitable for both velocity and torque-actuated robots. We propose a new…

Pedestrians' safety is a crucial factor in assessing autonomous driving scenarios. However, pedestrian safety evaluation is rarely considered by existing autonomous driving simulation platforms. This paper proposes a pedestrian safety…

We present a dual-barrier control barrier function (CBF) safety filter for real-time, safety-critical velocity control of holonomic robots operating in incrementally built occupancy grid maps. As a robot explores an unknown environment,…

Navigation and obstacle avoidance are some of the hardest tasks for the visually impaired. Recent research projects have proposed technological solutions to tackle this problem. So far most systems fail to provide multidimensional feedback…

We present a novel learning-based collision avoidance algorithm, CrowdSteer, for mobile robots operating in dense and crowded environments. Our approach is end-to-end and uses multiple perception sensors such as a 2-D lidar along with a…

This work combines control barrier functions (CBFs) with a whole-body controller to enable self-collision avoidance for the MIT Humanoid. Existing reactive controllers for self-collision avoidance cannot guarantee collision-free…

In this paper, we propose a safety-critical controller based on time-varying control barrier functions (CBFs) for a robot with an unicycle model in the continuous-time domain to achieve navigation and dynamic collision avoidance. Unlike…

Dynamic obstacle avoidance on quadrotors requires low latency. A class of sensors that are particularly suitable for such scenarios are event cameras. In this paper, we present a deep learning -- based solution for dodging multiple dynamic…

This letter presents a conflict resolution strategy for an autonomous vehicle mounted with a stereo camera approaching an unsignalized T-intersection. A mathematical model for uncertainty in stereo camera depth measurements is considered…

Social acceptance is a major hurdle for autonomous vehicle technology, central to which is ensuring both passengers and nearby pedestrians feel safe. This idea of `feeling safe' and perceived safety is highly subjective and rooted in human…

Safety remains one of the most critical challenges in autonomous driving systems. In recent years, the end-to-end driving has shown great promise in advancing vehicle autonomy in a scalable manner. However, existing approaches often face…

The safety of mobile robots in dynamic environments is predicated on making sure that they do not collide with obstacles. In support of such safety arguments, we analyze and formally verify a series of increasingly powerful safety…

For a vehicle moving in an $n$-dimensional Euclidean space, we present a construction of a hybrid feedback that guarantees both global asymptotic stabilization of a reference position and avoidance of an obstacle corresponding to a bounded…

E-scooters have become a more dominant mode of transport in recent years. However, the rise in their usage has been accompanied by an increase in injuries, affecting the trust and perceived safety of both users and non-users. Artificial…

Safety filters ensure that only safe control actions are executed. We propose a simple and stealthy false-data injection attack for deactivating such safety filters; in particular, we focus on deactivating safety filters that are based on…