相关论文: Intention-Aware Control Based on Belief-Space Spec…

Driver intention prediction seeks to anticipate drivers' actions by analyzing their behaviors with respect to surrounding traffic environments. Existing approaches primarily focus on late-fusion techniques, and neglect the importance of…

We consider the setting of iterative learning control, or model-based policy learning in the presence of uncertain, time-varying dynamics. In this setting, we propose a new performance metric, planning regret, which replaces the standard…

We present a novel approach for risk-aware planning with human agents in multi-agent traffic scenarios. Our approach takes into account the wide range of human driver behaviors on the road, from aggressive maneuvers like speeding and…

Anticipating driver intention is an important task when vehicles of mixed and varying levels of human/machine autonomy share roadways. Driver intention can be leveraged to improve road safety, such as warning surrounding vehicles in the…

In this paper we present an approach to control a vehicle in a hostile environment with static obstacles and moving adversaries. The vehicle is required to satisfy a mission objective expressed as a temporal logic specification over a set…

This paper focuses on the attitude pointing control problem under pointing-forbidden constraints and performance constraints. The spacecraft is expected to align its sensor's boresight to a desired direction, while the terminal control…

Risk-aware navigation in unknown environments is a fundamental challenge for autonomous vehicles operating in complex urban systems. To address this issue, this paper presents a differentiable optimization layered safety-critical control…

When learning to act in a stochastic, partially observable environment, an intelligent agent should be prepared to anticipate a change in its belief of the environment state, and be capable of adapting its actions on-the-fly to changing…

Improving the effectiveness of human-robot interaction requires social robots to accurately infer human goals through robust intention understanding. This challenge is particularly critical in multimodal settings, where agents must…

This article presents a constrained policy optimization approach for the optimal control of systems under nonstationary uncertainties. We introduce an assumption that we call Markov embeddability that allows us to cast the stochastic…

This paper presents a technique to drive the state of a constrained nonlinear system to a specified target state in finite time, when the system suffers a partial loss in control authority. Our technique builds on a recent method to control…

It is widely acknowledged that drivers should remain in the control loop of automated vehicles before they completely meet real-world operational conditions. This paper introduces an `indirect shared control' scheme for steer-by-wire…

Communication and cooperation among team members can be enhanced significantly with physical interaction. Successful collaboration requires the integration of the individual partners' intentions into a shared action plan, which may involve…

Human-vehicle cooperative driving serves as a vital bridge to fully autonomous driving by improving driving flexibility and gradually building driver trust and acceptance of autonomous technology. To establish more natural and effective…

Automated parking is a challenging operational domain for advanced driver assistance systems, requiring robust scene understanding and interaction reasoning. The key challenge is twofold: (i) predict multiple plausible ego intentions…

In order to drive effectively, a driver must be aware of how they can expect other vehicles' behaviour to be affected by their decisions, and also how they are expected to behave by other drivers. One common family of methods for addressing…

We study the problem of policy repair for learning-based control policies in safety-critical settings. We consider an architecture where a high-performance learning-based control policy (e.g. one trained as a neural network) is paired with…

Uncertainty in control and perception poses challenges for autonomous vehicle navigation in unstructured environments, leading to navigation failures and potential vehicle damage. This paper introduces a framework that minimizes control and…

Existing intelligent driving technology often has a problem in balancing smooth driving and fast obstacle avoidance, especially when the vehicle is in a non-structural environment, and is prone to instability in emergency situations.…

In this article we design a physically-inspired model-based assist-as-needed semi-autonomous control (ASC) algorithm to address the problem of safely driving a vehicle (a power wheelchair) in an environment with static obstacles. Once…