相关论文: Parameterized Fast and Safe Tracking (FaSTrack) us…

In continuous-time optimal control, evaluating the Hamiltonian requires solving a constrained optimization problem using the system's dynamics model. Hamilton-Jacobi reachability analysis for safety verification has demonstrated practical…

This paper presents a real-time trajectory planning framework for Urban Air Mobility (UAM) that is both safe and scalable. The proposed framework employs a decentralized, free-flight concept of operation in which each aircraft independently…

Planar tracking has drawn increasing interest owing to its key roles in robotics and augmented reality. Despite recent great advancement, further development of planar tracking, particularly in the deep learning era, is largely limited…

The design and deployment of autonomous systems for space missions require robust solutions to navigate strict reliability constraints, extended operational duration, and communication challenges. This study evaluates the stability and…

Deterministic methods for motion planning guarantee safety amidst uncertainty in obstacle locations by trying to restrict the robot from operating in any possible location that an obstacle could be in. Unfortunately, this can result in…

In this paper, we propose a hybrid MPC local planner that uses a learning-based approximation of a time-varying safe set, derived from local observations and applied as the MPC terminal constraint. This set can be represented as a…

Reliable uncertainty quantification in trajectory prediction is crucial for safety-critical autonomous driving systems, yet existing deep learning predictors lack uncertainty-aware frameworks adaptable to heterogeneous real-world scenarios.…

We present a safe-by-design trajectory planning and tracking framework for nonlinear dynamical systems using a hierarchy of system models. The planning layer uses a low-fidelity model to plan a feasible trajectory satisfying the planning…

The complex nonlinear dynamics of hydraulic excavators, such as time delays and control coupling, pose significant challenges to achieving high-precision trajectory tracking. Traditional control methods often fall short in such applications…

Density of the reachable states can help understand the risk of safety-critical systems, especially in situations when worst-case reachability is too conservative. Recent work provides a data-driven approach to compute the density…

When autonomous vehicles still struggle to solve challenging situations during on-road driving, humans have long mastered the essence of driving with efficient transferable and adaptable driving capability. By mimicking humans' cognition…

Anti-UAV tracking poses significant challenges, including small target sizes, abrupt camera motion, and cluttered infrared backgrounds. Existing tracking paradigms can be broadly categorized into global- and local-based methods.…

High-speed trajectory planning through unknown environments requires algorithmic techniques that enable fast reaction times while maintaining safety as new information about the operating environment is obtained. The requirement of…

Pedestrian trajectory prediction is crucial for autonomous driving and robotics. While existing point-based and grid-based methods expose two main limitations: insufficiently modeling human motion dynamics, as they fail to balance local…

Visual Teach-and-Repeat Navigation is a direct solution for mobile robot to be deployed in unknown environments. However, robust trajectory repeat navigation still remains challenged due to environmental changing and dynamic objects. In…

Robust optimization provides a principled framework for decision-making under uncertainty, with broad applications in finance, engineering, and operations research. In portfolio optimization, uncertainty in expected returns and covariances…

Path-tracking control of self-driving vehicles can benefit from deep learning for tackling longstanding challenges such as nonlinearity and uncertainty. However, deep neural controllers lack safety guarantees, restricting their practical…

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 approach to modeling human driving behavior, designed for use in evaluating autonomous vehicle control systems in a simulation environments. Our methodology leverages a hierarchical forward-looking, risk-aware…

Ransomware poses a serious and fast-acting threat to critical systems, often encrypting files within seconds of execution. Research indicates that ransomware is the most reported cybercrime in terms of financial damage, highlighting the…