Filters








10,764 Hits in 6.8 sec

High-speed autonomous navigation of unknown environments using learned probabilities of collision

Charles Richter, John Ware, Nicholas Roy
<span title="">2014</span> <i title="IEEE"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/nytnrt3gtzbixld5r6a4talbky" style="color: black;">2014 IEEE International Conference on Robotics and Automation (ICRA)</a> </i> &nbsp;
We demonstrate our algorithm on a 1:8-scale high-performance RC car equipped with a planar laser range-finder and inertial measurement unit, reaching speeds of 4m/s in unknown, indoor spaces.  ...  Our algorithm demonstrates sensible emergent behaviors, like swinging wide around blind corners, slowing down near the map frontier, and accelerating in regions of high visibility.  ...  Our algorithm minimizes the expected cost of each trajectory over the experience of the vehicle, leading to high speed motions in situations where it is safe to move at high speed, while slowing down and  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/icra.2014.6907760">doi:10.1109/icra.2014.6907760</a> <a target="_blank" rel="external noopener" href="https://dblp.org/rec/conf/icra/RichterWR14.html">dblp:conf/icra/RichterWR14</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/s3ddq2m3s5dlvflbu5zw3efjli">fatcat:s3ddq2m3s5dlvflbu5zw3efjli</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20170201175301/http://groups.csail.mit.edu/rrg/papers/Richter_ICRA14.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/a1/3a/a13a00a8be2e73f7f3ff043f1bc06c077e508812.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/icra.2014.6907760"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

B-GAP: Behavior-Rich Simulation and Navigation for Autonomous Driving [article]

Angelos Mavrogiannis, Rohan Chandra, Dinesh Manocha
<span title="2022-02-13">2022</span> <i > arXiv </i> &nbsp; <span class="release-stage" >pre-print</span>
Our policy implicitly models the interactions between traffic agents and computes safe trajectories for the ego-vehicle accounting for aggressive driver maneuvers such as overtaking, over-speeding, weaving  ...  We present a new simulation technique consisting of enriching existing traffic simulators with behavior-rich trajectories corresponding to varying levels of aggressiveness.  ...  Problem Formulation Our goal is to design a behavior-rich simulator and use our simulator to train a behavior-rich policy for safe egonavigation in dense traffic.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/2011.03748v6">arXiv:2011.03748v6</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/etysioulnjgo3lkatwdedqldja">fatcat:etysioulnjgo3lkatwdedqldja</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20220216000925/https://arxiv.org/pdf/2011.03748v6.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/b3/60/b360c1a116474ec64af28d2804f39be6df418718.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/2011.03748v6" title="arxiv.org access"> <button class="ui compact blue labeled icon button serp-button"> <i class="file alternate outline icon"></i> arxiv.org </button> </a>

Probabilistically Safe Robot Planning with Confidence-Based Human Predictions

Jaime Fisac, Andrea Bajcsy, Sylvia Herbert, David Fridovich-Keil, Steven Wang, Claire Tomlin, Anca Dragan
<span title="2018-06-26">2018</span> <i title="Robotics: Science and Systems Foundation"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/gjhqqq6dgnaupkvp2ckhefvv6i" style="color: black;">Robotics: Science and Systems XIV</a> </i> &nbsp;
Building on recent work in provably-safe trajectory planning, we leverage these confidence-aware human motion predictions to generate assured autonomous robot motion.  ...  In order to safely operate around humans, robots can employ predictive models of human motion.  ...  ACKNOWLEDGMENTS We thank Smitha Milli for confidence inference guidance.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.15607/rss.2018.xiv.069">doi:10.15607/rss.2018.xiv.069</a> <a target="_blank" rel="external noopener" href="https://dblp.org/rec/conf/rss/FisacBHFWTD18.html">dblp:conf/rss/FisacBHFWTD18</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/kftmhfsgcjebbndbua2zvi3fvi">fatcat:kftmhfsgcjebbndbua2zvi3fvi</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20190222225114/http://pdfs.semanticscholar.org/3dd9/9a7f7024d63b01ebf905256409d0230a30f7.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/3d/d9/3dd99a7f7024d63b01ebf905256409d0230a30f7.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.15607/rss.2018.xiv.069"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> Publisher / doi.org </button> </a>

Alice: An information-rich autonomous vehicle for high-speed desert navigation

Lars B. Cremean, Tully B. Foote, Jeremy H. Gillula, George H. Hines, Dmitriy Kogan, Kristopher L. Kriechbaum, Jeffrey C. Lamb, Jeremy Leibs, Laura Lindzey, Christopher E. Rasmussen, Alexander D. Stewart, Joel W. Burdick (+1 others)
<span title="">2006</span> <i title="Wiley"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/hozy4uxohvhslew6ka2x3ecogy" style="color: black;">Journal of Field Robotics</a> </i> &nbsp;
Innovations include a vehicle architecture designed for efficient testing in harsh environments, a highly sensory-driven approach to fuse sensor data into speed maps used by real-time trajectory optimization  ...  Alice utilizes a highly networked control system architecture to provide high performance, autonomous driving in unknown environments.  ...  In addition, we received financial support and donations from many sponsors, including AEK Technology, Aluminess, Barry  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1002/rob.20135">doi:10.1002/rob.20135</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/sm5hdwby2fenrmkcrgdbv7ioqm">fatcat:sm5hdwby2fenrmkcrgdbv7ioqm</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20070816084301/http://gc.caltech.edu/media//papers/teamcaltech-jfr06.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/42/d2/42d2d85065a59b042557adf369f762e2b1d3b815.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1002/rob.20135"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> wiley.com </button> </a>

Online Mapping and Motion Planning under Uncertainty for Safe Navigation in Unknown Environments [article]

Èric Pairet, Juan David Hernández, Marc Carreras, Yvan Petillot, Morteza Lahijanian
<span title="2020-05-26">2020</span> <i > arXiv </i> &nbsp; <span class="release-stage" >pre-print</span>
environment, and (ii) iteratively (re)planning trajectories to goal that are kinodynamically feasible and probabilistically safe through a multi-layered sampling-based planner in the belief space.  ...  In order to cope with these constraints, this manuscript proposes an uncertainty-based framework for mapping and planning feasible motions online with probabilistic safety-guarantees.  ...  Experiments in Section 7.1 were conducted in the Computer Vision and Robotics Institute (VICOROB) at University of Girona with the support of the EXCELLABUST and ARCHROV projects under the Grant agreements  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/2004.12317v2">arXiv:2004.12317v2</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/5shpev4m3bfwlflzmobkr4t3xu">fatcat:5shpev4m3bfwlflzmobkr4t3xu</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20200605203704/https://arxiv.org/pdf/2004.12317v2.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/aa/2e/aa2e18426ba3ebcf4be4127aa2f7c5b697804dee.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/2004.12317v2" title="arxiv.org access"> <button class="ui compact blue labeled icon button serp-button"> <i class="file alternate outline icon"></i> arxiv.org </button> </a>

Hierarchical Trajectory Planning for Autonomous Driving in Low-speed Driving Scenarios Based on RRT and Optimization [article]

Yuying Chen, Haoyang Ye, Ming Liu
<span title="2019-04-04">2019</span> <i > arXiv </i> &nbsp; <span class="release-stage" >pre-print</span>
Though great effort has been put into the study of path planning on urban roads and highways, few works have studied the driving strategy and trajectory planning in low-speed driving scenarios, e.g., driving  ...  Additionally, it is essential to treat these scenarios differently as, in most cases, the driving environment is narrow, dynamic, and rich with obstacles, which also causes the planning in such environments  ...  In [16] , speed planning is performed for each path candidate and trajectory with the least cost is selected.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/1904.02606v1">arXiv:1904.02606v1</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/pswdert72rdz7gw3pzw3gylvau">fatcat:pswdert72rdz7gw3pzw3gylvau</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20191025134147/https://arxiv.org/pdf/1904.02606v1.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/9d/92/9d927bcdbff884d90f8878994d59c80b7289bc78.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/1904.02606v1" title="arxiv.org access"> <button class="ui compact blue labeled icon button serp-button"> <i class="file alternate outline icon"></i> arxiv.org </button> </a>

Bridging the Gap Between Safety and Real-Time Performance in Receding-Horizon Trajectory Design for Mobile Robots [article]

Shreyas Kousik, Sean Vaskov, Fan Bu, Matthew Johnson-Roberson, Ram Vasudevan
<span title="2020-04-22">2020</span> <i > arXiv </i> &nbsp; <span class="release-stage" >pre-print</span>
At runtime, the FRS is used to map obstacles to parameterized trajectories, allowing RTD to select a safe trajectory at every planning iteration.  ...  However, creating safe, dynamically-feasible trajectories in real time is challenging; and, planners must ensure persistent feasibility, meaning a new trajectory is always available before the previous  ...  Online (at runtime), RTD plans safe trajectories in an iterative, receding-horizon manner. Assume a safe plan exists in the first planning iteration.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/1809.06746v2">arXiv:1809.06746v2</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/j5kkltrmo5gmfind6yoxafieiu">fatcat:j5kkltrmo5gmfind6yoxafieiu</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20200504154848/https://arxiv.org/pdf/1809.06746v2.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] </button> </a> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/1809.06746v2" title="arxiv.org access"> <button class="ui compact blue labeled icon button serp-button"> <i class="file alternate outline icon"></i> arxiv.org </button> </a>

Airborne mapping of complex obstacles using 2D Splinegon

Samuel B. Lazarus, Madhavan Shanmugavel, Antonios Tsourdos, Rafal Zbikowski, Brian A. White
<span title="">2008</span> <i title="IEEE"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/lotzoejqpjhmjn2kywwcxlndie" style="color: black;">2008 American Control Conference</a> </i> &nbsp;
This Dubins path planning algorithm is used to provide a flyable and safe path to the vehicle to fly from one location to another.  ...  This paper describes a recently proposed algorithm in mapping the unknown obstacle in a stationary environment where the obstacles are represented as curved in nature.  ...  This proposed method, the most recent approach, will result in the sufficient richness in the mapping task which will increase the confidence in boundary estimation thereby decreasing the instability of  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/acc.2008.4586662">doi:10.1109/acc.2008.4586662</a> <a target="_blank" rel="external noopener" href="https://dblp.org/rec/conf/amcc/LazarusSTZW08.html">dblp:conf/amcc/LazarusSTZW08</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/i5fj3batijgb5hjucdnivevedu">fatcat:i5fj3batijgb5hjucdnivevedu</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20171113024415/https://core.ac.uk/download/pdf/140628.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/01/f4/01f4cc60acffa020c6adfd1f6abc4802c2b0415a.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/acc.2008.4586662"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

Confidence-rich grid mapping

Ali-akbar Agha-mohammadi, Eric Heiden, Karol Hausman, Gaurav Sukhatme
<span title="2019-05-17">2019</span> <i title="SAGE Publications"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/uhsvnr5ecvb4die3422lvgaz6q" style="color: black;">The international journal of robotics research</a> </i> &nbsp;
In this work, we present confidence-rich mapping (CRM), a new algorithm for spatial grid-based mapping of the 3D environment. CRM augments the occupancy level at each voxel by its confidence value.  ...  Third, and most importantly, it provides consistent confidence values over the occupancy estimation that can be reliably used in collision risk evaluation and motion planning.  ...  Map Confidence and Safe Exploration for Motion Planning The proposed method not only provides a more accurate map estimate but, more importantly, the uncertainty associated with the returned value.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1177/0278364919839762">doi:10.1177/0278364919839762</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/js5sq7j6yjfefowlbqmdbdlqde">fatcat:js5sq7j6yjfefowlbqmdbdlqde</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20200708045138/https://arxiv.org/pdf/2006.15754v1.pdf" title="fulltext PDF download [not primary version]" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <span style="color: #f43e3e;">&#10033;</span> <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/8e/29/8e291bb26c7e8c56e3fc74e2e6e8e15fae28d0c9.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1177/0278364919839762"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> sagepub.com </button> </a>

Vision-Based Goal-Conditioned Policies for Underwater Navigation in the Presence of Obstacles [article]

Travis Manderson, Juan Camilo Gamboa Higuera, Stefan Wapnick, Jean-François Tremblay, Florian Shkurti, David Meger, Gregory Dudek
<span title="2020-06-29">2020</span> <i > arXiv </i> &nbsp; <span class="release-stage" >pre-print</span>
Our approach is based on recent advances in conditional imitation learning. General-purpose, safe and informative actions are demonstrated by a human expert.  ...  We deployed our method on an underwater vehicle in the open ocean to collect scientifically relevant data of coral reefs, which allowed our robot to operate safely and autonomously, even at very close  ...  In contrast, our work does not assume a map and does not need to perform exploration-exploitation within that map, which is sometimes called Simultaneous Planning, Localization and Mapping (SPLAM) [19  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/2006.16235v1">arXiv:2006.16235v1</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/aci5bps24revjlq4qifwto4y2q">fatcat:aci5bps24revjlq4qifwto4y2q</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20200704030217/https://arxiv.org/pdf/2006.16235v1.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] </button> </a> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/2006.16235v1" title="arxiv.org access"> <button class="ui compact blue labeled icon button serp-button"> <i class="file alternate outline icon"></i> arxiv.org </button> </a>

Driving Through Ghosts: Behavioral Cloning with False Positives [article]

Andreas Bühler, Adrien Gaidon, Andrei Cramariuc, Rares Ambrus, Guy Rosman, Wolfram Burgard
<span title="2020-08-29">2020</span> <i > arXiv </i> &nbsp; <span class="release-stage" >pre-print</span>
In this work, we propose a behavioral cloning approach that can safely leverage imperfect perception without being conservative.  ...  Our core contribution is a novel representation of perceptual uncertainty for learning to plan.  ...  For autonomous driving in particular, safety is a formidable challenge due to high speeds, rich environments, and complex dynamic interactions with many traffic participants, including vulnerable road  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/2008.12969v1">arXiv:2008.12969v1</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/3zl2qpjaebapnakay64ryvs534">fatcat:3zl2qpjaebapnakay64ryvs534</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20200908175039/https://arxiv.org/pdf/2008.12969v1.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] </button> </a> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/2008.12969v1" title="arxiv.org access"> <button class="ui compact blue labeled icon button serp-button"> <i class="file alternate outline icon"></i> arxiv.org </button> </a>

STEP: Stochastic Traversability Evaluation and Planning for Risk-Aware Off-road Navigation [article]

David D. Fan, Kyohei Otsu, Yuki Kubo, Anushri Dixit, Joel Burdick, Ali-Akbar Agha-Mohammadi
<span title="2021-06-25">2021</span> <i > arXiv </i> &nbsp; <span class="release-stage" >pre-print</span>
To tackle these problems we propose an approach for assessing traversability and planning a safe, feasible, and fast trajectory in real-time.  ...  Our approach, which we name STEP (Stochastic Traversability Evaluation and Planning), relies on: 1) rapid uncertainty-aware mapping and traversability evaluation, 2) tail risk assessment using the Conditional  ...  “Confidence-rich grid will decrease, yielding a more accurate risk assessment. mapping”.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/2103.02828v2">arXiv:2103.02828v2</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/awgmfmwr5bbntn6yuohrf23t4e">fatcat:awgmfmwr5bbntn6yuohrf23t4e</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20210727224700/https://arxiv.org/pdf/2103.02828v2.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/44/6d/446dfedb4dd61e205e103d478ddcb7052ad46bb3.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/2103.02828v2" title="arxiv.org access"> <button class="ui compact blue labeled icon button serp-button"> <i class="file alternate outline icon"></i> arxiv.org </button> </a>

Perception-Aware Planning for Active SLAM in Dynamic Environments

Yao Zhao, Zhi Xiong, Shuailin Zhou, Jingqi Wang, Ling Zhang, Pascual Campoy
<span title="2022-05-27">2022</span> <i title="MDPI AG"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/kay2tsbijbawliu45dnhvyvgsq" style="color: black;">Remote Sensing</a> </i> &nbsp;
The former can reduce the mapping uncertainty, while the latter takes the loop closing possibility into consideration. Second, a key waypoint selection strategy is designed.  ...  This paper presents a perception-aware path planner for active SLAM in dynamic environments using micro-aerial vehicles (MAV).  ...  SLAM focuses mainly on localization and map building rather than trajectory planning.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.3390/rs14112584">doi:10.3390/rs14112584</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/xxexs72fkng4rp4m4gidrchi5e">fatcat:xxexs72fkng4rp4m4gidrchi5e</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20220605195556/https://mdpi-res.com/d_attachment/remotesensing/remotesensing-14-02584/article_deploy/remotesensing-14-02584.pdf?version=1653657847" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/b7/11/b711e0c8395385d714814b1b98d10385ef622429.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.3390/rs14112584"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="unlock alternate icon" style="background-color: #fb971f;"></i> mdpi.com </button> </a>

Deep Bayesian Reward Learning from Preferences [article]

Daniel S. Brown, Scott Niekum
<span title="2019-12-10">2019</span> <i > arXiv </i> &nbsp; <span class="release-stage" >pre-print</span>
Using samples from the posterior, we demonstrate how to calculate high-confidence bounds on policy performance in the imitation learning setting, in which the ground-truth reward function is unknown.  ...  We also demonstrate that high-confidence performance bounds may be useful for detecting reward hacking.  ...  In the future we are interested in using high-confidence bounds on policy performance to implement safe and robust policy improvement in the imitation learning setting.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/1912.04472v1">arXiv:1912.04472v1</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/c2ouhzmearhupopywchlvp7ckq">fatcat:c2ouhzmearhupopywchlvp7ckq</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20200828220138/https://arxiv.org/pdf/1912.04472v1.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/04/f7/04f788ea49e7fbd55369fbfa0945c53dd40c9d3b.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/1912.04472v1" title="arxiv.org access"> <button class="ui compact blue labeled icon button serp-button"> <i class="file alternate outline icon"></i> arxiv.org </button> </a>

LiRaNet: End-to-End Trajectory Prediction using Spatio-Temporal Radar Fusion [article]

Meet Shah, Zhiling Huang, Ankit Laddha, Matthew Langford, Blake Barber, Sidney Zhang, Carlos Vallespi-Gonzalez, Raquel Urtasun
<span title="2020-11-12">2020</span> <i > arXiv </i> &nbsp; <span class="release-stage" >pre-print</span>
In this paper, we present LiRaNet, a novel end-to-end trajectory prediction method which utilizes radar sensor information along with widely used lidar and high definition (HD) maps.  ...  prediction error for objects with high acceleration and a 16% reduction in prediction error for objects at longer range.  ...  The SDV can plan a safe path by taking into account the future position of objects to preemptively avoid potentially harmful interactions.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/2010.00731v3">arXiv:2010.00731v3</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/o22dgqbz6zg6rf4pdc6nwtl554">fatcat:o22dgqbz6zg6rf4pdc6nwtl554</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20201117004702/https://arxiv.org/pdf/2010.00731v3.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/1b/ed/1bed1b730b52ee79da52d498f809dc2b8a12e63b.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/2010.00731v3" title="arxiv.org access"> <button class="ui compact blue labeled icon button serp-button"> <i class="file alternate outline icon"></i> arxiv.org </button> </a>
&laquo; Previous Showing results 1 &mdash; 15 out of 10,764 results