相关论文: Learning Through Retrospection: Improving Trajecto…

Autonomous vehicles rely on accurate trajectory prediction to inform decision-making processes related to navigation and collision avoidance. However, current trajectory prediction models show signs of overfitting, which may lead to unsafe…

Learned communication makes multi-agent systems more effective by aggregating distributed information. However, it also exposes individual agents to the threat of erroneous messages they might receive. In this paper, we study the setting…

We present a new method for multi-modal, long-term vehicle trajectory prediction. Our approach relies on using lane centerlines captured in rich maps of the environment to generate a set of proposed goal paths for each vehicle. Using these…

Accurately predicting future behaviors of surrounding vehicles is an essential capability for autonomous vehicles in order to plan safe and feasible trajectories. The behaviors of others, however, are full of uncertainties. Both rational…

Perception and prediction modules are critical components of autonomous driving systems, enabling vehicles to navigate safely through complex environments. The perception module is responsible for perceiving the environment, including…

To maximize safety and driving comfort, autonomous driving systems can benefit from implementing foresighted action choices that take different potential scenario developments into account. While artificial scene prediction methods are…

Accurate prediction of surrounding road users' trajectories is essential for safe and efficient autonomous driving. While deep learning models have improved performance, challenges remain in preventing off-road predictions and ensuring…

A novel approach to detect road surface anomalies by visual tracking of a preceding vehicle is proposed. The method is versatile, predicting any kind of road anomalies, such as potholes, bumps, debris, etc., unlike direct observation…

Informed machine learning methods allow the integration of prior knowledge into learning systems. This can increase accuracy and robustness or reduce data needs. However, existing methods often assume hard constraining knowledge, that does…

In recent years, autonomous driving algorithms using low-cost vehicle-mounted cameras have attracted increasing endeavors from both academia and industry. There are multiple fronts to these endeavors, including object detection on roads,…

Model predictive control (MPC) is widely used for path tracking of autonomous vehicles due to its ability to handle various types of constraints. However, a considerable predictive error exists because of the error of mathematics model or…

Motion forecasts of road users (i.e., agents) vary in complexity depending on the number of agents, scene constraints, and interactions. In particular, the output space of joint trajectory distributions grows exponentially with the number…

Recently, there has been tremendous progress in developing each individual module of the standard perception-planning robot autonomy pipeline, including detection, tracking, prediction of other agents' trajectories, and ego-agent trajectory…

Time series forecasting is a challenging task with applications in a wide range of domains. Auto-regression is one of the most common approaches to address these problems. Accordingly, observations are modelled by multiple regression using…

Model predictive control has emerged as an effective approach for real-time optimal control of connected and automated vehicles. However, nonlinear dynamics of vehicle and traffic systems make accurate modeling and real-time optimization…

This paper presents a learning-based approach for impromptu trajectory tracking for non-minimum phase systems, i.e., systems with unstable inverse dynamics. Inversion-based feedforward approaches are commonly used for improving tracking…

Predictive models have been at the core of many robotic systems, from quadrotors to walking robots. However, it has been challenging to develop and apply such models to practical robotic manipulation due to high-dimensional sensory…

Trajectory prediction and planning are essential for autonomous vehicles to navigate safely and efficiently in dynamic environments. Traditional approaches often treat them separately, limiting the ability for interactive planning. While…

Modular automated driving systems commonly handle prediction and planning as sequential, separate tasks, thereby prohibiting cooperative maneuvers. To enable cooperative planning, this work introduces a prediction model that models the…

This paper presents an end-to-end approach for tracking static and dynamic objects for an autonomous vehicle driving through crowded urban environments. Unlike traditional approaches to tracking, this method is learned end-to-end, and is…