相关论文: A Geometric Analysis-Based Safety Assessment Frame…
A practical method for identifying the propeller model and inertia matrix of a marine Autonomous Surface Vehicle (ASV) is proposed in this work. Special attention is paid to limiting the instrumentation requirements. Based on a generic…
Safe navigation is essential for autonomous systems operating in hazardous environments. Traditional planning methods excel at long-horizon tasks but rely on a predefined graph with fixed distance metrics. In contrast, safe Reinforcement…
This thesis presents the development of ARGUS, a framework for mission planning for Unmanned Ground Vehicles (UGVs) in tactical environments. The system is designed to translate battlefield complexity and the commander's intent into…
This paper introduces AUTOBargeSim, a simulation toolbox for autonomous inland vessel guidance and control system design. AUTOBargeSim is developed using MATLAB and provides an easy-to-use introduction to various aspects of autonomous…
Maps are essential for diverse applications, such as vehicle navigation and autonomous robotics. Both require spatial models for effective route planning and localization. This paper addresses the challenge of road graph construction for…
Navigating an arbitrary-shaped ground robot safely in cluttered environments remains a challenging problem. The existing trajectory planners that account for the robot's physical geometry severely suffer from the intractable runtime. To…
Vessel navigation is influenced by various factors, such as dynamic environmental factors that change over time or static features such as vessel type or depth of the ocean. These dynamic and static navigational factors impose limitations…
Reliable and accurate localization and mapping are key components of most autonomous systems. Besides geometric information about the mapped environment, the semantics plays an important role to enable intelligent navigation behaviors. In…
Autonomous Cyber-Physical Systems must often operate under uncertainties like sensor degradation and shifts in the operating conditions, which increases its operational risk. Dynamic Assurance of these systems requires designing runtime…
This paper proposes a Guidance, Navigation, and Control (GNC) architecture for planetary rovers targeting the conditions of upcoming Mars exploration missions such as Mars 2020 and the Sample Fetching Rover (SFR). The navigation…
This paper presents GAMMA, a general motion prediction model that enables large-scale real-time simulation and planning for autonomous driving. GAMMA models heterogeneous, interactive traffic agents. They operate under diverse road…
This paper presents a novel method to quantify seafarers' good seamanship during navigation scenarios with multi-vessel encounters -- in open and confined waters --, and to compute COLREG's-compliant trajectories for avoiding collision and…
Active visual SLAM finds a wide array of applications in GNSS-Denied sub-terrain environments and outdoor environments for ground robots. To achieve robust localization and mapping accuracy, it is imperative to incorporate the perception…
The encounter situation between marine vessels determines how they should navigate to obey COLREGs, but time-varying and stochastic uncertainty in estimation of angles of encounter, and of closest point of approach, easily give rise to…
Exploration is a fundamental problem in robot autonomy. A major limitation, however, is that during exploration robots oftentimes have to rely on on-board systems alone for state estimation, accumulating significant drift over time in large…
This paper describes the methodology for building a dynamic risk assessment for ADAS (Advanced Driving Assistance Systems) algorithms in parking scenarios, fusing exterior and interior perception for a better understanding of the scene and…
In a context of autonomous robots, one of the most important task is to ensure the safety of the robot and its surrounding. Most of the time, the risk of navigation is simply said to be the probability of collision. This notion of risk is…
This paper presents a sampled-data framework for the safe navigation of controlled agents in environments cluttered with obstacles governed by uncertain linear dynamics. Collision-free motion is achieved by combining Control Barrier…
Navigation safety is critical for many autonomous systems such as self-driving vehicles in an urban environment. It requires an explicit consideration of boundary constraints that describe the borders of any infeasible, non-navigable, or…
In the realm of maritime transportation, autonomous vessel navigation in natural inland waterways faces persistent challenges due to unpredictable natural factors. Existing scheduling algorithms fall short in handling these uncertainties,…