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

While intelligence of autonomous vehicles (AVs) has significantly advanced in recent years, accidents involving AVs suggest that these autonomous systems lack gracefulness in driving when interacting with human drivers. In the setting of a…

This paper considers the control of uncertain systems that are operated under limited resource factors, such as battery life or hardware longevity. We consider here resource-aware self-triggered control techniques that schedule system…

Pedestrian intention prediction needs to be accurate for autonomous vehicles to navigate safely in urban environments. We present a lightweight, socially informed architecture for pedestrian intention prediction. It fuses four behavioral…

This paper presents a robust path-planning framework for safe spacecraft autonomy under uncertainty and develops a computationally tractable formulation based on convex programming. We utilize chance-constrained control to formulate the…

We consider control of uncertain linear time-varying stochastic systems from the perspective of regret minimization. Specifically, we focus on the problem of designing a feedback controller that minimizes the loss relative to a clairvoyant…

With the practical implementation of connected and autonomous vehicles (CAVs), the traffic system is expected to remain a mix of CAVs and human-driven vehicles (HVs) for the foreseeable future. To enhance safety and traffic efficiency, the…

In the driving scene, the road agents usually conduct frequent interactions and intention understanding of the surroundings. Ego-agent (each road agent itself) predicts what behavior will be engaged by other road users all the time and…

Intention recognition, or the ability to anticipate the actions of another agent, plays a vital role in the design and development of automated assistants that can support humans in their daily tasks. In particular, industrial settings pose…

Driving without considering the preferred separation distance from surrounding vehicles may cause discomfort for users. To address this limitation, we propose a planning framework that explicitly incorporates user preferences regarding the…

Numerous car accidents are caused by improper driving maneuvers. Serious injuries are however avoidable if such driving maneuvers are detected beforehand and the driver is assisted accordingly. In fact, various recent research has focused…

We present a method, which incorporates knowledge awareness into the symbolic computation of discrete controllers for reactive cyber physical systems, to improve decision making about the unknown operating environment under…

This work presents a fault-tolerant control scheme for sensory faults in robotic manipulators based on active inference. In the majority of existing schemes, a binary decision of whether a sensor is healthy (functional) or faulty is made…

A multi-modal framework to generate user intention distributions when operating a mobile vehicle is proposed in this work. The model learns from past observed trajectories and leverages traversability information derived from the visual…

Assistive mobile robots are a transformative technology that helps persons with disabilities regain the ability to move freely. Although autonomous wheelchairs significantly reduce user effort, they still require human input to allow users…

With the goal of increasing the speed and efficiency in robotic manipulation, a control approach is presented that aims to utilize intentional simultaneous impacts to its advantage. This approach exploits the concept of the time-invariant…

Autonomous cars have to navigate in dynamic environment which can be full of uncertainties. The uncertainties can come either from sensor limitations such as occlusions and limited sensor range, or from probabilistic prediction of other…

This paper proposes an interaction and safety-aware motion-planning method for an autonomous vehicle in uncertain multi-vehicle traffic environments. The method integrates the ability of the interaction-aware interacting multiple model…

This paper investigates the problem of impact-time-control and proposes a learning-based computational guidance algorithm to solve this problem. The proposed guidance algorithm is developed based on a general prediction-correction concept:…

In many applications of social navigation, existing works have shown that predicting and reasoning about human intentions can help robotic agents make safer and more socially acceptable decisions. In this work, we study this problem for…

Lane changing and lane merging remains a challenging task for autonomous driving, due to the strong interaction between the controlled vehicle and the uncertain behavior of the surrounding traffic participants. The interaction induces a…