相关论文: Trajectory Tracking Using Frenet Coordinates with …

Mobile robotic systems are becoming increasingly popular. These systems are used in various indoor applications, raging from warehousing and manufacturing to test benches for assessment of advanced control strategies, such as artificial…

Biped robots have plenty of benefits over wheeled, quadruped, or hexapod robots due to their ability to behave like human beings in tough and non-flat environments. Deformable terrain is another challenge for biped robots as it has to deal…

This paper proposes an SVM Enhanced Trajectory Planner for dynamic scenes, typically those encountered in on road settings. Frenet frame based trajectory generation is popular in the context of autonomous driving both in research and…

Autonomous drone navigation in dynamic environments remains a critical challenge, especially when dealing with unpredictable scenarios including fast-moving objects with rapidly changing goal positions. While traditional planners and…

Trajectory prediction is crucial for autonomous driving as it aims to forecast the future movements of traffic participants. Traditional methods usually perform holistic inference on the trajectories of agents, neglecting the differences in…

This paper describes an approach for attractor selection (or multi-stability control) in nonlinear dynamical systems with constrained actuation. Attractor selection is obtained using two different deep reinforcement learning methods: 1) the…

Nowadays, the ubiquity of various sensors enables the collection of voluminous datasets of car trajectories. Such datasets enable analysts to make sense of driving patterns and behaviors: in order to understand the behavior of drivers, one…

In this endeavor, we developed a comprehensive system that processes integrated visual features derived from video frames captured by a regular camera, along with depth details obtained from a point cloud scanner. This system is designed to…

Due to the advent of new mobile devices and tracking sensors in recent years, huge amounts of data are being produced every day. Therefore, novel methodologies need to emerge that dive through this vast sea of information and generate…

We investigate the problem of agent-to-agent interaction in decentralized (federated) learning over time-varying directed graphs, and, in doing so, propose a consensus-based algorithm called DSGTm-TV. The proposed algorithm incorporates…

This paper proposes two new algorithms for the lane keeping system (LKS) in autonomous vehicles (AVs) operating under snowy road conditions. These algorithms use deep reinforcement learning (DRL) to handle uncertainties and slippage. They…

This paper addresses the problem of legged locomotion in non-flat terrain. As legged robots such as quadrupeds are to be deployed in terrains with geometries which are difficult to model and predict, the need arises to equip them with the…

In many scientific and engineering problems, noise and nonlinearity are unavoidable, which could induce interesting mathematical problem such as transition phenomena. This paper focuses on efficiently discovering the most probable…

Mobile edge computing (MEC) allows appliances to offload workloads to neighboring MEC servers that have the potential for computation-intensive tasks with limited computational capabilities. This paper studied how deep reinforcement…

Differential Dynamic Programming (DDP) is an efficient trajectory optimization algorithm relying on second-order approximations of a system's dynamics and cost function, and has recently been applied to optimize systems with time-invariant…

Predicting human trajectories is a challenging task due to the complexity of pedestrian behavior, which is influenced by external factors such as the scene's topology and interactions with other pedestrians. A special challenge arises from…

Most state-of-the-art works in trajectory forecasting for automotive target predicting the pose and orientation of the agents in the scene. This represents a particularly useful problem, for instance in autonomous driving, but it does not…

Trajectory prediction is, naturally, a key task for vehicle autonomy. While the number of traffic rules is limited, the combinations and uncertainties associated with each agent's behaviour in real-world scenarios are nearly impossible to…

This paper presents a technique for trajectory planning based on continuously parameterized high-level actions (motion primitives) of variable duration. This technique leverages deep reinforcement learning (Deep RL) to formulate a policy…

Path tracking system plays a key technology in autonomous driving. The system should be driven accurately along the lane and be careful not to cause any inconvenience to passengers. To address such tasks, this paper proposes hybrid tracker…