相关论文: CrowdSurfer: Sampling Optimization Augmented with …

A popular way to plan trajectories in dynamic urban scenarios for Autonomous Vehicles is to rely on explicitly specified and hand crafted cost functions, coupled with random sampling in the trajectory space to find the minimum cost…

Crowd scene analysis receives growing attention due to its wide applications. Grasping the accurate crowd location (rather than merely crowd count) is important for spatially identifying high-risk regions in congested scenes. In this paper,…

Autonomous navigation in crowded spaces poses a challenge for mobile robots due to the highly dynamic, partially observable environment. Occlusions are highly prevalent in such settings due to a limited sensor field of view and obstructing…

Assistance robots have gained widespread attention in various industries such as logistics and human assistance. The tasks of guiding or following a human in a crowded environment such as airports or train stations to carry weight or goods…

Autonomous deployment of unmanned aerial vehicles (UAVs) supporting next-generation communication networks requires efficient trajectory planning methods. We propose a new end-to-end reinforcement learning (RL) approach to UAV-enabled data…

In real-world crowd counting applications, the crowd densities in an image vary greatly. When facing density variation, humans tend to locate and count the targets in low-density regions, and reason the number in high-density regions. We…

Effective communication is key to successful, decentralized, multi-robot path planning. Yet, it is far from obvious what information is crucial to the task at hand, and how and when it must be shared among robots. To side-step these issues…

State of the art methods for robotic path planning in dynamic environments, such as crowds or traffic, rely on hand crafted motion models for agents. These models often do not reflect interactions of agents in real world scenarios. To…

Autonomous vehicle navigation in shared pedestrian environments requires the ability to predict future crowd motion both accurately and with minimal delay. Understanding the uncertainty of the prediction is also crucial. Most existing…

Finding a feasible and prompt solution to the Vehicle Routing Problem (VRP) is a prerequisite for efficient freight transportation, seamless logistics, and sustainable mobility. Traditional optimization methods reach their limits when…

We present a navigation system that combines ideas from hierarchical planning and machine learning. The system uses a traditional global planner to compute optimal paths towards a goal, and a deep local trajectory planner and velocity…

Planning through crowded environments under uncertain obstacle motions remains difficult, as stochastic interactions often induce overly conservative behavior or reduced efficiency. To address this challenge, we propose an end-to-end risk…

Simulation is a powerful tool to easily generate annotated data, and a highly desirable feature, especially in those domains where learning models need large training datasets. Machine learning and deep learning solutions, have proven to be…

Sampling trajectories from a distribution followed by ranking them based on a specified cost function is a common approach in autonomous driving. Typically, the sampling distribution is hand-crafted (e.g a Gaussian, or a grid). Recently,…

Mobile robots rely on maps to navigate through an environment. In the absence of any map, the robots must build the map online from partial observations as they move in the environment. Traditional methods build a map using only direct…

Most existing crowd counting methods require object location-level annotation, i.e., placing a dot at the center of an object. While being simpler than the bounding-box or pixel-level annotation, obtaining this annotation is still…

Manually specifying features that capture the diversity in traffic environments is impractical. Consequently, learning-based agents cannot realize their full potential as neural motion planners for autonomous vehicles. Instead, this work…

Sampling-based motion planning is the predominant paradigm in many real-world robotic applications, but its performance is immensely dependent on the quality of the samples. The majority of traditional planners are inefficient as they use…

Autonomous navigation in dynamic environments is a complex but essential task for autonomous robots. Recent deep reinforcement learning approaches show promising results to solve the problem, but it is not solved yet, as they typically…

Vehicle mobility optimization in urban areas is a long-standing problem in smart city and spatial data analysis. Given the complex urban scenario and unpredictable social events, our work focuses on developing a mobile sequential…