相关论文: Hybrid Navigation Acceptability and Safety

This paper explores the state of the art on to methods to verify and validate navigation algorithms for autonomous surface ships. We perform a systematic mapping study to find research works published in the last 10 years proposing new…

The paper proposes novel sampling strategies to compute the optimal path alteration of a surface vessel sailing in close quarters. Such strategy directly encodes the rules for safe navigation at sea, by exploiting the concept of minimal…

Collision avoidance capability is an essential component in an autonomous vessel navigation system. To this end, an accurate prediction of dynamic obstacle trajectories is vital. Traditional approaches to trajectory prediction face…

Ensuring safe autonomy is crucial for deploying aerial robots in real-world applications. However, safety is a multifaceted challenge that must be addressed from multiple perspectives, including navigation in dynamic environments, operation…

The use of autonomous vehicles in real-world applications is often precluded by the difficulty of providing safety guarantees for their complex controllers. The simulation-based testing of these controllers cannot deliver sufficient safety…

Recent years have seen growing interest in the development of self-driving vehicles that promise (or threaten) to replace human drivers with intelligent software. However, current self-driving cars still require human supervision and prompt…

This article proposes an approach for collision avoidance, path following, and anti-grounding of autonomous surface vessels under consideration of environmental forces based on Nonlinear Model Predictive Control (NMPC). Artificial Potential…

Autonomous navigation is a long-standing field of robotics research, which provides an essential capability for mobile robots to execute a series of tasks on the same environments performed by human everyday. In this chapter, we present a…

Advances in autonomy offer the potential for dramatic positive outcomes in a number of domains, yet enabling their safe deployment remains an open problem. This work's motivating question is: In safety-critical settings, can we avoid the…

This paper considers the problem of robot motion planning in a workspace with obstacles for systems with uncertain 2nd-order dynamics. In particular, we combine closed form potential-based feedback controllers with adaptive control…

Autonomous underwater vehicles (AUVs) are being tasked with increasingly complex missions. The acoustic communications required for AUVs are, by the nature of the medium, low bandwidth while adverse environmental conditions underwater often…

Unmanned aerial vehicles (UAVs) have become very popular for many military and civilian applications including in agriculture, construction, mining, environmental monitoring, etc. A desirable feature for UAVs is the ability to navigate and…

Human error is a substantial factor in marine accidents, accounting for 85% of all reported incidents. By reducing the need for human intervention in vessel navigation, AI-based methods can potentially reduce the risk of accidents. AI…

Autonomous driving has attracted significant attention from both academia and industries, which is expected to offer a safer and more efficient driving system. However, current autonomous driving systems are mostly based on a single…

A significant barrier to deploying autonomous vehicles (AVs) on a massive scale is safety assurance. Several technical challenges arise due to the uncertain environment in which AVs operate such as road and weather conditions, errors in…

This paper enhances the obstacle avoidance of Autonomous Surface Vehicles (ASVs) for safe navigation in high-traffic waters with an active state estimation of obstacle's passing intention and reducing its uncertainty. We introduce a…

Sight is essential for humans to navigate their surrounding environment independently. Tasks that are simple for the sighted are often close to impossible for the visually impaired. Throughout the years, many researchers dedicated their…

The safety of autonomous driving systems, particularly self-driving vehicles, remains of paramount concern. These systems exhibit affine nonlinear dynamics and face the challenge of executing predefined control tasks while adhering to state…

Many autonomous systems face safety challenges, requiring robust closed-loop control to handle physical limitations and safety constraints. Real-world systems, like autonomous ships, encounter nonlinear dynamics and environmental…

Autonomous navigation in unknown 3D environments is a key issue for intelligent transportation, while still being an open problem. Conventionally, navigation risk has been focused on mitigating collisions with obstacles, neglecting the…