相关论文: DynoJEPP: Joint Estimation, Prediction and Plannin…

This paper addresses the problem of cooperative target tracking using a heterogeneous multi-robot system, where the robots are communicating over a dynamic communication network, and heterogeneity is in terms of different types of sensors…

Many realistic robotics tasks are best solved compositionally, through control architectures that sequentially invoke primitives and achieve error correction through the use of loops and conditionals taking the system back to alternative…

Algorithms for motion planning in unknown environments are generally limited in their ability to reason about the structure of the unobserved environment. As such, current methods generally navigate unknown environments by relying on…

Automated driving has the potential to revolutionize personal, public, and freight mobility. Beside accurately perceiving the environment, automated vehicles must plan a safe, comfortable, and efficient motion trajectory. To promote safety…

A long-standing challenge in AI is to develop agents capable of solving a wide range of physical tasks and generalizing to new, unseen tasks and environments. A popular recent approach involves training a world model from state-action…

Forecasting the scalable future states of surrounding traffic participants in complex traffic scenarios is a critical capability for autonomous vehicles, as it enables safe and feasible decision-making. Recent successes in learning-based…

Adaptive traffic signal control plays a significant role in the construction of smart cities. This task is challenging because of many essential factors, such as cooperation among neighboring intersections and dynamic traffic scenarios.…

In this paper, a novel, dual-mode model predictive control framework is introduced that combines the dynamic window approach to navigation with reference tracking controllers. This adds a deliberative component to the obstacle avoidance…

Motion planning in dynamically changing environments is one of the most complex challenges in autonomous driving. Safety is a crucial requirement, along with driving comfort and speed limits. While classical sampling-based, lattice-based,…

Autonomous navigation requires a broad spectrum of skills, from static goal-reaching to dynamic social traversal, yet evaluation remains fragmented across disparate protocols. We introduce DynBench, a dynamic navigation benchmark featuring…

Predicting the future motion of traffic agents is crucial for safe and efficient autonomous driving. To this end, we present PredictionNet, a deep neural network (DNN) that predicts the motion of all surrounding traffic agents together with…

Planning and prediction are two important modules of autonomous driving and have experienced tremendous advancement recently. Nevertheless, most existing methods regard planning and prediction as independent and ignore the correlation…

Trajectory forecasting, or trajectory prediction, of multiple interacting agents in dynamic scenes, is an important problem for many applications, such as robotic systems and autonomous driving. The problem is a great challenge because of…

Navigating safely in dynamic human environments is crucial for mobile service robots, and social navigation is a key aspect of this process. In this paper, we proposed an integrative approach that combines motion prediction and trajectory…

Path planning for autonomous robots faces a fundamental trade-off between path length and obstacle clearance. While existing algorithms typically prioritize a single objective, we introduce the Unified Path Planner (UPP), a graph-search…

Coordination graph is a promising approach to model agent collaboration in multi-agent reinforcement learning. It conducts a graph-based value factorization and induces explicit coordination among agents to complete complicated tasks.…

Perception and prediction modules are critical components of autonomous driving systems, enabling vehicles to navigate safely through complex environments. The perception module is responsible for perceiving the environment, including…

Deep multimodal learning has achieved great progress in recent years. However, current fusion approaches are static in nature, i.e., they process and fuse multimodal inputs with identical computation, without accounting for diverse…

Aerodynamic surrogate models are increasingly used to replace repeated high-fidelity CFD evaluations in many-query design settings, but current approaches still face two important limitations: they often scale poorly to the very large…

This paper proposes an integrated approach for the safe and efficient control of mobile robots in dynamic and uncertain environments. The approach consists of two key steps: one-shot multimodal motion prediction to anticipate motions of…