相关论文: Trajectory Prediction via Bayesian Intention Infer…

With the rapid advancements in autonomous driving, accurately predicting pedestrian behavior has become essential for ensuring safety in complex and unpredictable traffic conditions. The growing interest in this challenge highlights the…

Trajectory prediction is an essential component in autonomous driving, particularly for collision avoidance systems. Considering the inherent uncertainty of the task, numerous studies have utilized generative models to produce multiple…

Robots that can effectively understand human intentions from actions are crucial for successful human-robot collaboration. In this work, we address the challenge of a robot navigating towards an unknown goal while also accounting for a…

Training machine learning models inherently involves a resource-intensive and noisy iterative learning procedure that allows epoch-wise monitoring of the model performance. However, the insights gained from the iterative learning procedure…

We introduce a simulation-based, amortised Bayesian inference scheme to infer the parameters of random walks. Our approach learns the posterior distribution of the walks' parameters with a likelihood-free method. In the first step a graph…

Intent inferencing in teleoperation has been instrumental in aligning operator goals and coordinating actions with robotic partners. However, current intent inference methods often ignore subtle motion that can be strong indicators for a…

Nowadays, mobile robots are deployed in many indoor environments, such as offices or hospitals. These environments are subject to changes in the traversability that often happen by following repeating patterns. In this paper, we investigate…

Planning for autonomous driving in complex, urban scenarios requires accurate prediction of the trajectories of surrounding traffic participants. Their future behavior depends on their route intentions, the road-geometry, traffic rules and…

Bayesian inference has many advantages in robotic motion planning over four perspectives: The uncertainty quantification of the policy, safety (risk-aware) and optimum guarantees of robot motions, data-efficiency in training of…

This paper proposes a methodology to estimate uncertainty in automated vehicle (AV) dynamics in real time via Bayesian inference. Based on the estimated uncertainty, the method aims to continuously monitor the car-following (CF) performance…

This paper proposes a framework to recognize driving intentions and to predict driving behaviors of lane changing on the highway by using externally sensable traffic data from the host-vehicle. The framework consists of a driving…

We present EWareNet, a novel intent and affect-aware social robot navigation algorithm among pedestrians. Our approach predicts the trajectory-based pedestrian intent from gait sequence, which is then used for intent-guided navigation…

Eye movement is closely related to limb actions, so it can be used to infer movement intentions. More importantly, in some cases, eye movement is the only way for paralyzed and impaired patients with severe movement disorders to communicate…

Motion prediction is crucial for autonomous driving systems to understand complex driving scenarios and make informed decisions. However, this task is challenging due to the diverse behaviors of traffic participants and complex…

In mobile robot shared control, effectively understanding human motion intention is critical for seamless human-robot collaboration. This paper presents a novel shared control framework featuring planning-level intention prediction. A path…

This paper presents a novel guidance law for target tracking applications where the target motion model is unknown and sensor measurements are intermittent due to unknown environmental conditions and low measurement update rate. In this…

This paper develops a correct-by-design controller for an autonomous vehicle interacting with opponent vehicles with unknown intentions. We define an intention-aware control problem incorporating epistemic uncertainties of the opponent…

The pedestrian crossing intention prediction problem is to estimate whether or not the target pedestrian will cross the street. State-of-the-art techniques heavily depend on visual data acquired through the front camera of the ego-vehicle…

Motion prediction for intelligent vehicles typically focuses on estimating the most probable future evolutions of a traffic scenario. Estimating the gap acceptance, i.e., whether a vehicle merges or crosses before another vehicle with the…

Accurately predicting the possible behaviors of traffic participants is an essential capability for future autonomous vehicles. The majority of current researches fix the number of driving intentions by considering only a specific scenario.…