相关论文: Competency-Aware Planning for Probabilistically Sa…

Convolutional neural networks (CNNs) are extremely popular and effective for image classification tasks but tend to be overly confident in their predictions. Various works have sought to quantify uncertainty associated with these models,…

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…

Rapid advances in perception have enabled large pre-trained models to be used out of the box for transforming high-dimensional, noisy, and partial observations of the world into rich occupancy representations. However, the reliability of…

Robots deployed in the real world over extended periods of time need to reason about unexpected failures, learn to predict them, and to proactively take actions to avoid future failures. Existing approaches for competence-aware planning are…

In this paper, we present a novel information processing architecture for safe deep learning-based visual navigation of autonomous systems. The proposed information processing architecture is used to support a perceptual attention-based…

For safe operation, a robot must be able to avoid collisions in uncertain environments. Existing approaches for motion planning under uncertainties often assume parametric obstacle representations and Gaussian uncertainty, which can be…

In this paper, we give a double twist to the problem of planning under uncertainty. State-of-the-art planners seek to minimize the localization uncertainty by only considering the geometric structure of the scene. In this paper, we argue…

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 presents a safe, efficient, and agile ground vehicle navigation algorithm for 3D off-road terrain environments. Off-road navigation is subject to uncertain vehicle-terrain interactions caused by different terrain conditions on…

Off-road autonomous unmanned ground vehicles (UGVs) are being developed for military and commercial use to deliver crucial supplies in remote locations, help with mapping and surveillance, and to assist war-fighters in contested…

Safe autonomous navigation is an essential and challenging problem for robots operating in highly unstructured or completely unknown environments. Under these conditions, not only robotic systems must deal with limited localisation…

While deep neural network (DNN)-based perception models are useful for many applications, these models are black boxes and their outputs are not yet well understood. To confidently enable a real-world, decision-making system to utilize such…

This work proposes the use of Bayesian approximations of uncertainty from deep learning in a robot planner, showing that this produces more cautious actions in safety-critical scenarios. The case study investigated is motivated by a setup…

Autonomous Vehicle (AV) perception systems have advanced rapidly in recent years, providing vehicles with the ability to accurately interpret their environment. Perception systems remain susceptible to errors caused by overly-confident…

Autonomous systems operating in unknown environments often rely heavily on visual sensor data, yet making safe and informed control decisions based on these measurements remains a significant challenge. To facilitate the integration of…

In driving scenarios with poor visibility or occlusions, it is important that the autonomous vehicle would take into account all the uncertainties when making driving decisions, including choice of a safe speed. The grid-based perception…

We investigate how to utilize predictive models for selecting appropriate motion planning strategies based on perception uncertainty estimation for agile unmanned aerial vehicle (UAV) navigation tasks. Although there are variety of motion…

A key challenge in off-road navigation is that even visually similar terrains or ones from the same semantic class may have substantially different traction properties. Existing work typically assumes no wheel slip or uses the expected…

The availability of a robust map-based localization system is essential for the operation of many autonomously navigating vehicles. Since uncertainty is an inevitable part of perception, it is beneficial for the robustness of the robot to…

Uncertainties in Deep Neural Network (DNN)-based perception and vehicle's motion pose challenges to the development of safe autonomous driving vehicles. In this paper, we propose a safe motion planning framework featuring the quantification…