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

Manipulation in confined and cluttered environments remains a significant challenge due to partial observability and complex configuration spaces. Effective manipulation in such environments requires an intelligent exploration strategy to…

The confluence of the advancement of Autonomous Vehicles (AVs) and the maturity of Vehicle-to-Everything (V2X) communication has enabled the capability of cooperative connected and automated vehicles (CAVs). Building on top of cooperative…

Mobile robots are increasingly populating homes, hospitals, shopping malls, factory floors, and other human environments. Human society has social norms that people mutually accept; obeying these norms is an essential signal that someone is…

Numerous roadside perception datasets have been introduced to propel advancements in autonomous driving and intelligent transportation systems research and development. However, it has been observed that the majority of their concentrates…

This paper presents a novel integrated approach to deal with the decision making and motion planning for lane-change maneuvers of autonomous vehicle (AV) considering social behaviors of surrounding traffic occupants. Reflected by driving…

We propose embodied scene-aware human pose estimation where we estimate 3D poses based on a simulated agent's proprioception and scene awareness, along with external third-person observations. Unlike prior methods that often resort to…

Safe autonomous driving in mixed traffic requires a unified understanding of multimodal interactions and dynamic planning under uncertainty. Existing learning based approaches struggle to capture rare but safety critical behaviors, while…

This paper presents a novel multimodal perception system for a real open environment. The proposed system includes an embedded computation platform, cameras, ultrasonic sensors, GPS, and IMU devices. Unlike the traditional frameworks, our…

In indoor environments, multi-robot visual (RGB-D) mapping and exploration hold immense potential for application in domains such as domestic service and logistics, where deploying multiple robots in the same environment can significantly…

Surrounding perceptions are quintessential for safe driving for connected and autonomous vehicles (CAVs), where the Bird's Eye View has been employed to accurately capture spatial relationships among vehicles. However, severe inherent…

In order for autonomous vehicles to become a part of the Intelligent Transportation Ecosystem, they are required to guarantee a particular level of safety. For that to happen a safe vehicle control algorithms need to be developed, which…

Motion planning in uncertain environments like complex urban areas is a key challenge for autonomous vehicles (AVs). The aim of our research is to investigate how AVs can navigate crowded, unpredictable scenarios with multiple pedestrians…

Safe navigation of autonomous agents in human centric environments requires the ability to understand and predict motion of neighboring pedestrians. However, predicting pedestrian intent is a complex problem. Pedestrian motion is governed…

Connected Autonomous Vehicles (CAVs) benefit from Vehicle-to-Everything (V2X) communication, which enables the exchange of sensor data to achieve Collaborative Perception (CP). To reduce cumulative errors in perception modules and mitigate…

3D object detection is a common function within the perception system of an autonomous vehicle and outputs a list of 3D bounding boxes around objects of interest. Various 3D object detection methods have relied on fusion of different sensor…

Autonomous flight in GPS-denied indoor spaces requires trajectories that keep visual-localization error tightly bounded across varied missions. Map-based visual localization methods such as feature matching require computationally intensive…

Most computational accounts of cognitive maps assume that stability is achieved primarily through sensory anchoring, with self-motion contributing to incremental positional updates only. However, biological spatial representations often…

Cooperative perception is challenging for safety-critical autonomous driving applications.The errors in the shared position and pose cause an inaccurate relative transform estimation and disrupt the robust mapping of the Ego vehicle. We…

The raise of collaborative robotics has led to wide range of sensor technologies to detect human-machine interactions: at short distances, proximity sensors detect nontactile gestures virtually occlusion-free, while at medium distances,…

Infrastructure sensing is vital for traffic monitoring at safety hotspots (e.g., intersections) and serves as the backbone of cooperative perception in autonomous driving. While vehicle sensing has been extensively studied, infrastructure…