相关论文: A Universal Vehicle-Trailer Navigation System with…

Reverse parking maneuvers of a vehicle with trailer system is a challenging task to complete for human drivers due to the unstable nature of the system and unintuitive controls required to orientate the trailer properly. This paper hence…

Reverse parking maneuvering of a vehicle with trailer system is a difficult task to complete for human drivers due to the multi-body nature of the system and the unintuitive controls required to orientate the trailer properly. The problem…

Trailer parking is a challenging task due to the unstable nature of the vehicle-trailer system in reverse motion and the unintuitive steering actions required at the vehicle to accomplish the parking maneuver. This paper presents a strategy…

Autonomous driving technology has rapidly evolved over the past decade, offering significant improvements in transportation efficiency, safety, and cost reduction. While much of the progress has focused on highway driving and obstacle…

Autonomous and safe navigation of tractor-trailer systems requires accurate, real-time collision avoidance and dynamically feasible control, particularly in cluttered and complex agricultural environments. This is challenging due to their…

Autonomous off-road navigation requires robots to estimate terrain traversability from onboard sensors and plan motion accordingly. Conventional approaches typically rely on sampling-based planners such as MPPI to generate short-term…

Trajectory prediction and behavioral decision-making are two important tasks for autonomous vehicles that require good understanding of the environmental context; behavioral decisions are better made by referring to the outputs of…

The vehicle dynamics model serves as a vital component of autonomous driving systems, as it describes the temporal changes in vehicle state. In a long period, researchers have made significant endeavors to accurately model vehicle dynamics.…

Predicting the motion of a driver's vehicle is crucial for advanced driving systems, enabling detection of potential risks towards shared control between the driver and automation systems. In this paper, we propose a variational neural…

Non-holonomic vehicle motion has been studied extensively using physics-based models. Common approaches when using these models interpret the wheel/ground interactions using a linear tire model and thus may not fully capture the nonlinear…

In this work we focus on improving the efficiency and generalisation of learned navigation strategies when transferred from its training environment to previously unseen ones. We present an extension of the residual reinforcement learning…

In recent years, significant advancements have been made in the field of autonomous driving with the aim of increasing safety and efficiency. However, research that focuses on tractor-trailer vehicles is relatively sparse. Due to the…

Highway driving invariably combines high speeds with the need to interact closely with other drivers. Prediction methods enable autonomous vehicles (AVs) to anticipate drivers' future trajectories and plan accordingly. Kinematic methods for…

Self-driving vehicles (SDVs) hold great potential for improving traffic safety and are poised to positively affect the quality of life of millions of people. To unlock this potential one of the critical aspects of the autonomous technology…

In this work, we propose a learning based neural model that provides both the longitudinal and lateral control commands to simultaneously navigate multiple vehicles. The goal is to ensure that each vehicle reaches a desired target state…

A novel approach for vehicle tracking using a hybrid adaptive Kalman filter is proposed. The filter utilizes recurrent neural networks to learn the vehicle's geometrical and kinematic features, which are then used in a supervised learning…

Articulated multi-axle vehicles are interesting from a control-theoretic perspective due to their peculiar kinematic offtracking characteristics, instability modes, and singularities. Holonomic and nonholonomic constraints affecting the…

Tracked vehicles distribute their weight continuously over a large surface area (the tracks). This distinctive feature makes them the preferred choice for vehicles required to traverse soft and uneven terrain. From a robotics perspective,…

A safe and robust on-road navigation system is a crucial component of achieving fully automated vehicles. NVIDIA recently proposed an End-to-End algorithm that can directly learn steering commands from raw pixels of a front camera by using…

Aerial robotics for transporting suspended payloads as the form of freely-floating manipulator are growing great interest in recent years. However, the force/torque caused by payload and residual dynamics will introduce unmodeled…