相关论文: Learning-Based On-Track System Identification for …

Autonomous racing without prebuilt maps is a grand challenge for embedded robotics that requires kinodynamic planning from instantaneous sensor data at the acceleration and tire friction limits. Out-Of-Distribution (OOD) generalization to…

The time it takes for a classifier to make an accurate prediction can be crucial in many behaviour recognition problems. For example, an autonomous vehicle should detect hazardous pedestrian behaviour early enough for it to take appropriate…

For autonomous driving or advanced driving assistance, it is key to monitor the vehicle dynamics behavior. Accurate models of this behavior include acceleration, but also the side-slip angle, that eventually results from the complex…

We propose a novel B-spline trajectory optimization method for autonomous racing. We consider the unavailability of sophisticated race car and race track dynamics in early-stage autonomous motorsports development and derive methods that…

Map-based methods for autonomous racing estimate the vehicle's location, which is used to follow a high-level plan. While map-based optimisation methods demonstrate high-performance results, they are limited by requiring a map of the…

Vehicle Make and Model Recognition (MMR) systems provide a fully automatic framework to recognize and classify different vehicle models. Several approaches have been proposed to address this challenge, however they can perform in restricted…

Automated driving applications require accurate vehicle specific models to precisely predict and control the motion dynamics. However, modern vehicles have a wide array of digital and mechatronic components that are difficult to model,…

In this paper, we address the problem of reference tracking for uncertain nonlinear systems. Since collecting data from the target system (i.e., the system of interest) is often challenging, our objective is to design optimal controllers…

Robot learning methods have recently made great strides, but generalization and robustness challenges still hinder their widespread deployment. Failing to detect and address potential failures renders state-of-the-art learning systems not…

The accurate characterization of tire dynamics is critical for advancing control strategies in autonomous road vehicles, as tire behavior significantly influences handling and stability through the generation of forces and moments at the…

Trajectory optimization methods have achieved an exceptional level of performance on real-world robots in recent years. These methods heavily rely on accurate analytical models of the dynamics, yet some aspects of the physical world can…

Several studies on ship maneuvering models have been conducted using captive model tests or computational fluid dynamics (CFD) and physical models, such as the maneuvering modeling group (MMG) model. A new system identification method for…

Learning by interaction is the key to skill acquisition for most living organisms, which is formally called Reinforcement Learning (RL). RL is efficient in finding optimal policies for endowing complex systems with sophisticated behavior.…

Perception within autonomous driving is nearly synonymous with Neural Networks (NNs). Yet, the domain of autonomous racing is often characterized by scaled, computationally limited robots used for cost-effectiveness and safety. For this…

Data-driven approaches are increasingly popular for identifying dynamical systems due to improved accuracy and availability of sensor data. However, relying solely on data for identification does not guarantee that the identified systems…

As the development of cities, traffic congestion becomes an increasingly pressing issue, and traffic prediction is a classic method to relieve that issue. Traffic prediction is one specific application of spatio-temporal prediction…

The use of machine learning models in system identification has increased due to their ability to approximate complex nonlinear dynamics with high accuracy. However, often it is not clear how the performance of trained models scales with…

Real world evolves in continuous time but computations are done from finite samples. Therefore, we study algorithms using finite observations in continuous-time linear dynamical systems. We first study the system identification problem, and…

Training neural networks on image datasets generally require extensive experimentation to find the optimal learning rate regime. Especially, for the cases of adversarial training or for training a newly synthesized model, one would not know…

Complex and nonlinear dynamical systems often involve parameters that change with time, accurate tracking of which is essential to tasks such as state estimation, prediction, and control. Existing machine-learning methods require full state…