相关论文: Fast and Accurate Collision Probability Estimation…

Collision-tolerant trajectory planning is the consideration that collisions, if they are planned appropriately, enable more effective path planning for robots capable of handling them. A mixed integer programming (MIP) optimization…

Motion planning is a central challenge in robotics, with learning-based approaches gaining significant attention in recent years. Our work focuses on a specific aspect of these approaches: using machine-learning techniques, particularly…

This paper proposes a new driving style recognition approach that allows autonomous vehicles (AVs) to perform trajectory predictions for surrounding vehicles with minimal data. Toward that end, we use a hybrid of offline and online methods…

Real-time robotic grasping, supporting a subsequent precise object-in-hand operation task, is a priority target towards highly advanced autonomous systems. However, such an algorithm which can perform sufficiently-accurate grasping with…

Autonomous vehicles are continually increasing their presence on public roads. However, before any new autonomous driving software can be approved, it must first undergo a rigorous assessment of driving quality. These quality evaluations…

Anomaly detection is essential for the safety and reliability of autonomous driving systems. Current methods often focus on detection accuracy but neglect response time, which is critical in time-sensitive driving scenarios. In this paper,…

This paper proposes a new framework based on joint statistical models for evaluating risks of automated vehicles in a naturalistic driving environment. The previous studies on the Accelerated Evaluation for automated vehicles are extended…

Ensuring robust and real-time obstacle avoidance is critical for the safe operation of autonomous robots in dynamic, real-world environments. This paper proposes a neural network framework for predicting the time and collision position of…

We consider the problem of locating a jump discontinuity (change-point) in a smooth parametric regression model with a bounded covariate. It is assumed that one can sample the covariate at different values and measure the corresponding…

Intelligent devices for supporting persons with vision impairment are becoming more widespread, but they are lacking behind the advancements in intelligent driver assistant system. To make a first step forward, this work discusses the…

The process to certify highly Automated Vehicles has not yet been defined by any country in the world. Currently, companies test Automated Vehicles on public roads, which is time-consuming and inefficient. We proposed the Accelerated…

We propose MMD-OPT: a sample-efficient approach for minimizing the risk of collision under arbitrary prediction distribution of the dynamic obstacles. MMD-OPT is based on embedding distribution in Reproducing Kernel Hilbert Space (RKHS) and…

Accurately assessing collision risk in dynamic traffic scenarios is a crucial requirement for trajectory planning in autonomous vehicles~(AVs) and enables a comprehensive safety evaluation of automated driving systems. To that end, this…

We present a fully distributed collision avoidance algorithm based on convex optimization for a team of mobile robots. This method addresses the practical case in which agents sense each other via measurements from noisy on-board sensors…

Collision detection plays an important role in simulation, control, and learning for robotic systems. However, no existing method is differentiable with respect to the configurations of the objects, greatly limiting the sort of algorithms…

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…

Sampling-based motion planners (SBMPs) are widely used to compute dynamically feasible robot paths. However, their reliance on uniform sampling often leads to poor efficiency and slow planning in complex environments. We introduce a novel…

We develop a stochastic approximation-type algorithm to solve finite state/action, infinite-horizon, risk-aware Markov decision processes. Our algorithm has two loops. The inner loop computes the risk by solving a stochastic saddle-point…

Driving under varying road conditions is challenging, especially for autonomous vehicles that must adapt in real-time to changes in the environment, e.g., rain, snow, etc. It is difficult to apply offline learning-based methods in these…

Sampling-based Motion Planners (SMPs) have become increasingly popular as they provide collision-free path solutions regardless of obstacle geometry in a given environment. However, their computational complexity increases significantly…