相关论文: A Vehicle System for Navigating Among Vulnerable R…

While autonomous multi-robots can achieve safe and coordinated navigation, they often struggle to adapt to unforeseen conditions and to capture operator-driven objectives in unstructured environments. We present a Virtual Reality (VR)-based…

We consider the problem of intelligently navigating through complex traffic. Urban situations are defined by the underlying map structure and special regulatory objects of e.g. a stop line or crosswalk. Thereon dynamic vehicles (cars,…

Motion planners take uncertain information about the environment as an input. The environment information is often quite noisy and has a tendency to contain false positive object detection. State-of-the-art motion planners consider all…

Ensuring the functional safety of motion planning modules in autonomous vehicles remains a critical challenge, especially when dealing with complex or learning-based software. Online verification has emerged as a promising approach to…

Safe UAV navigation is challenging due to the complex environment structures, dynamic obstacles, and uncertainties from measurement noises and unpredictable moving obstacle behaviors. Although plenty of recent works achieve safe navigation…

We propose a real-time implementable motion planning framework for cooperative object transportation by nonholonomic mobile manipulator robots (MMRs) in dynamic environments. Our global planner finds a path from start to goal through the…

In this paper, we present a planning framework that uses a combination of implicit (robot motion) and explicit (visual/audio/haptic feedback) communication during mobile robot navigation. First, we developed a model that approximates both…

In safety-critical domains like automated driving (AD), errors by the object detector may endanger pedestrians and other vulnerable road users (VRU). As common evaluation metrics are not an adequate safety indicator, recent works employ…

This paper introduces a framework for an indoor autonomous mobility system that can perform patient transfers and materials handling. Unlike traditional systems that rely on onboard perception sensors, the proposed approach leverages a…

Motion trajectory planning is one crucial aspect for automated vehicles, as it governs the own future behavior in a dynamically changing environment. A good utilization of a vehicle's characteristics requires the consideration of the…

Ensuring the functional safety of Autonomous Vehicles (AVs) requires motion planning modules that not only operate within strict real-time constraints but also maintain controllability in case of system faults. Existing safeguarding…

Our research introduces a modular motion planning framework for autonomous vehicles using a sampling-based trajectory planning algorithm. This approach effectively tackles the challenges of solution space construction and optimization in…

Most autonomous navigation systems assume wheeled robots are rigid bodies and their 2D planar workspaces can be divided into free spaces and obstacles. However, recent wheeled mobility research, showing that wheeled platforms have the…

There are many situations for which an unmanned ground vehicle has to work with only partial observability of the environment. Therefore, a feasible nonholonomic obstacle avoidance and target tracking action must be generated immediately…

This paper presents a planning system for autonomous driving among many pedestrians. A key ingredient of our approach is PORCA, a pedestrian motion prediction model that accounts for both a pedestrian's global navigation intention and local…

Motion prediction of surrounding vehicles is one of the most important tasks handled by a self-driving vehicle, and represents a critical step in the autonomous system necessary to ensure safety for all the involved traffic actors. Recently…

Safe trajectory planning in complex environments must balance stringent collision avoidance with real-time efficiency, which is a long-standing challenge in robotics. In this work, we present a diffusion-based trajectory planning framework…

The challenge of navigation in environments with dynamic objects continues to be a central issue in the study of autonomous agents. While predictive methods hold promise, their reliance on precise state information makes them less practical…

People with blindness and low vision (pBLV) experience significant challenges when locating final destinations or targeting specific objects in unfamiliar environments. Furthermore, besides initially locating and orienting oneself to a…

In near future, vulnerable road users (VRUs) such as cyclists and pedestrians will be equipped with smart devices and wearables which are capable to communicate with intelligent vehicles and other traffic participants. Road users are then…