相关论文: Integrated YOLOP Perception and Lyapunov-based Con…

In this work, we introduce a novel data-driven model-reference control design approach for unknown linear systems with fully measurable state. The proposed control action is composed by a static feedback term and a reference tracking block,…

This paper addresses the problem of composite synchronization and learning control in a network of multi-agent robotic manipulator systems with heterogeneous nonlinear uncertainties under a leader-follower framework. A novel two-layer…

This paper presents an integral concurrent learning (ICL)-based observer for a monocular camera to accurately estimate the Euclidean distance to features on a stationary object, under the restriction that state information is unavailable.…

In this paper, a multi-modal 360$^{\circ}$ framework for 3D object detection and tracking for autonomous vehicles is presented. The process is divided into four main stages. First, images are fed into a CNN network to obtain instance…

This work introduces a robot navigation controller that combines event cameras and other sensors with reinforcement learning to enable real-time human-centered navigation and obstacle avoidance. Unlike conventional image-based controllers,…

We propose a novel and pragmatic framework for traffic scene perception with roadside cameras. The proposed framework covers a full-stack of roadside perception pipeline for infrastructure-assisted autonomous driving, including object…

Real-world control applications in complex and uncertain environments require adaptability to handle model uncertainties and robustness against disturbances. This paper presents an online, output-feedback, critic-only, model-based…

Quadrupedal robots exhibit remarkable adaptability in unstructured environments, making them well-suited for formation control in real-world applications. However, keeping stable formations while ensuring collision-free navigation presents…

This paper introduces a novel and general method to address the problem of using a general-purpose robot manipulator with a parallel gripper to wrap a deformable linear object (DLO), called a rope, around a rigid object, called a rod,…

Offboard perception aims to automatically generate high-quality 3D labels for autonomous driving (AD) scenes. Existing offboard methods focus on 3D object detection with closed-set taxonomy and fail to match human-level recognition…

We present a LiDAR-based and real-time capable 3D perception system for automated driving in urban domains. The hierarchical system design is able to model stationary and movable parts of the environment simultaneously and under real-time…

The advancement of autonomous driving systems hinges on the ability to achieve low-latency and high-accuracy perception. To address this critical need, this paper introduces Dynamic Routing Network (DyRoNet), a low-rank enhanced dynamic…

The paper introduces novel families of cruise controllers for autonomous vehicles on lane-free ring-roads. The design of the cruise controllers is based on the appropriate selection of a Control Lyapunov Function expressed on measures of…

Indoor service robots need perception that is robust, more privacy-friendly than RGB video, and feasible on embedded hardware. We present a camera-free 2D LiDAR object detection pipeline that encodes short-term temporal context by stacking…

Learning for control of dynamical systems with formal guarantees remains a challenging task. This paper proposes a learning framework to simultaneously stabilize an unknown nonlinear system with a neural controller and learn a neural…

Robot perception under low light or high dynamic range is usually improved downstream - via more robust feature extraction, image enhancement, or closed-loop exposure control. However, all of these approaches are limited by the image…

The paper is concerned with the dynamic tracking problem of SNAP orchards harvesting robots in the presence of multiple uncalibrated model parameters in the application of dwarf culture orchards harvest. A new hybrid visual servoing…

Continuum robots possess high flexibility and redundancy, making them well suited for safe interaction in complex environments, yet their continuous deformation and nonlinear dynamics pose fundamental challenges to perception, modeling, and…

This report proposes a combined optimal control and perception framework for Micro Aerial Vehicle (MAV) autonomous navigation in novel indoor enclosed environments, relying exclusively on on-board sensor data. We use privileged information…

Locomotion on dynamic rigid surface (i.e., rigid surface accelerating in an inertial frame) presents complex challenges for controller design, which are essential for deploying humanoid robots in dynamic real-world environments such as…