相关论文: SAP-CoPE: Social-Aware Planning using Cooperative …

Achieving top-notch performance in Intelligent Transportation detection is a critical research area. However, many challenges still need to be addressed when it comes to detecting in a cross-domain scenario. In this paper, we propose a…

Despite growing attention in autonomy, there are still many open problems, including how autonomous vehicles will interact and communicate with other agents, such as human drivers and pedestrians. Unlike most approaches that focus on…

This work proposes a novel approach to social robot navigation by learning to generate robot controls from a social motion latent space. By leveraging this social motion latent space, the proposed method achieves significant improvements in…

In autonomous driving, mapping is critical for motion planning but remains an under-utilized resource for perception tasks such as 3D object detection. Maps can provide robust structural priors of the static environment, helping resolve…

Recently, along with interest in autonomous vehicles, the importance of monitoring systems for both drivers and passengers inside vehicles has been increasing. This paper proposes a novel in-vehicle monitoring system the combines 3D pose…

Over the years, the separate fields of motion planning, mapping, and human trajectory prediction have advanced considerably. However, the literature is still sparse in providing practical frameworks that enable mobile manipulators to…

Robots will increasingly operate near humans that introduce uncertainties in the motion planning problem due to their complex nature. Typically, chance constraints are introduced in the planner to optimize performance while guaranteeing…

As more and more autonomous vehicles (AVs) are being deployed on public roads, designing socially compatible behaviors for them is becoming increasingly important. In order to generate safe and efficient actions, AVs need to not only…

In industrial applications, complex tasks require human collaboration since the robot doesn't have enough dexterity. However, the robots are still implemented as tools and not as collaborative intelligent systems. To ensure safety in the…

We present an integrated Task-Motion Planning (TMP) framework for navigation in large-scale environment. Autonomous robots operating in real world complex scenarios require planning in the discrete (task) space and the continuous (motion)…

Recent works have considered two qualitatively different approaches to overcome line-of-sight limitations of 3D sensors used for perception: cooperative perception and infrastructure-augmented perception. In this paper, motivated by…

Automatic underground parking has attracted considerable attention as the scope of autonomous driving expands. The auto-vehicle is supposed to obtain the environmental information, track its location, and build a reliable map of the…

Autonomous driving remains a challenging task, particularly due to safety concerns. Modern vehicles are typically equipped with expensive sensors such as LiDAR, cameras, and radars to reduce the risk of accidents. However, these sensors…

Accurate and robust state estimation is critical for autonomous navigation of robot teams. This task is especially challenging for large groups of size, weight, and power (SWAP) constrained aerial robots operating in perceptually-degraded…

The system of connected vehicle to vehicle and vehicle to infrastructure can be considered as a wireless cyberphysical system of systems (Wireless CPSoS), which will be provided with the high ability of adaptive control on system of…

Perceiving the environment is one of the most fundamental keys to enabling Cooperative Driving Automation (CDA), which is regarded as the revolutionary solution to addressing the safety, mobility, and sustainability issues of contemporary…

Real-time perception and motion planning are two crucial tasks for autonomous driving. While there are many research works focused on improving the performance of perception and motion planning individually, it is still not clear how a…

The integration of collaborative robots into industrial environments has improved productivity, but has also highlighted significant challenges related to operator safety and ergonomics. This paper proposes an innovative framework that…

Self-driving vehicles are a maturing technology with the potential to reshape mobility by enhancing the safety, accessibility, efficiency, and convenience of automotive transportation. Safety-critical tasks that must be executed by a…

Vision-based localization in a prior map is of crucial importance for autonomous vehicles. Given a query image, the goal is to estimate the camera pose corresponding to the prior map, and the key is the registration problem of camera images…