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Sampling-Based Real-Time Motion Planning under State Uncertainty for Autonomous Micro-Aerial Vehicles in GPS-Denied Environments

Dachuan Li, Qing Li, Nong Cheng, Jingyan Song
2014 Sensors  
This paper presents a real-time motion planning approach for autonomous vehicles with complex dynamics and state uncertainty.  ...  The approach is motivated by the motion planning problem for autonomous vehicles navigating in GPS-denied dynamic environments, which involves non-linear and/or non-holonomic vehicle dynamics, incomplete  ...  In this paper, we propose a real-time motion planning strategy (closed-loop random belief trees, CL-RBT) for autonomous vehicles with complex dynamics and in the presence of state estimation uncertainty  ... 
doi:10.3390/s141121791 pmid:25412217 pmcid:PMC4279562 fatcat:d3a5c4kgtfealgh7rgdrou24na

Deep Reinforcement Learning for End-to-End Local Motion Planning of Autonomous Aerial Robots in Unknown Outdoor Environments: Real-Time Flight Experiments

Oualid Doukhi, Deok-Jin Lee
2021 Sensors  
This paper presents a novel approach for enabling a micro aerial vehicle system equipped with a laser range finder to autonomously navigate among obstacles and achieve a user-specified goal location in  ...  The obtained policy can perform collision-free flight in the real world while being trained entirely on a 3D simulator.  ...  In [32] , the authors presented a motion planning technique for a quadrotor UAV.  ... 
doi:10.3390/s21072534 pmid:33916624 fatcat:w4r3kha6sjgtbddk6i3s3y7gde

Motion Planning for Highly Automated Road Vehicles with a Hybrid Approach Using Nonlinear Optimization and Artificial Neural Networks

Ferenc Hegedüs, Tamás Bécsi, Szilárd Aradi, Péter Gáspár
2019 Strojniski vestnik  
This paper presents an algorithm which offers a solution to this problematic with a hybrid approach using artificial neural networks (ANNs) .  ...  Over the last decade, many different algorithms were developed for the motion planning of road vehicles due to the increasing interest in the automation of road transportation.  ...  EFOP-3.6.3-VEKOP-16-2017-00001: Talent management in autonomous vehicle control technologies-The Project is supported by the Hungarian Government and co-financed by the European Social Fund.  ... 
doi:10.5545/sv-jme.2018.5802 fatcat:luguvqkmvnac5egvh7ehecnqna

A Hybrid Approach for Autonomous Collision-Free UAV Navigation in 3D Partially Unknown Dynamic Environments

Taha Elmokadem, Andrey V. Savkin
2021 Drones  
A hybrid navigation approach is proposed to allow safe autonomous operations in three-dimensional (3D) partially unknown and dynamic environments.  ...  In the past decades, unmanned aerial vehicles (UAVs) have emerged in a wide range of applications.  ...  On the other hand, sensor-based methods generate local paths or motion commands in real-time based on a locally observed fraction of the environment interpreted directly from sensors measurements.  ... 
doi:10.3390/drones5030057 fatcat:2b7bpwibj5e6dk6elrt7vhmt2m

A Hybrid Approach for Turning Intention Prediction Based on Time Series Forecasting and Deep Learning

Hailun Zhang, Rui Fu
2020 Sensors  
In this paper, we propose a new hybrid approach for vehicle behavior recognition at intersections based on time series prediction and deep learning networks.  ...  Although different drivers show various driving characteristics, the kinematic parameters of human-driven vehicles can be used as a predictor for predicting the driver's intention within a short time.  ...  Second, empirical analysis has shown that if ADAS or autonomous vehicles cannot recognize the driving behavior of surrounding vehicles, the system cannot plan a safe and comfortable route in real-time.  ... 
doi:10.3390/s20174887 pmid:32872356 pmcid:PMC7506877 fatcat:qejeg3tmnvbdvlhqtvlrse2nbe

A Hybrid Rule-Based and Data-Driven Approach to Driver Modeling through Particle Filtering [article]

Raunak Bhattacharyya, Soyeon Jung, Liam Kruse, Ransalu Senanayake, Mykel Kochenderfer
2021 arXiv   pre-print
Our results show that driver models based on our hybrid rule-based and data-driven approach can accurately capture real-world driving behavior.  ...  Autonomous vehicles need to model the behavior of surrounding human driven vehicles to be safe and efficient traffic participants.  ...  Evaluating autonomous vehicles on real-world drive tests is time-consuming, expensive, and potentially dangerous.  ... 
arXiv:2108.12820v1 fatcat:xi7gxsrtgvftfgut5ax6n6kaxq

A Hybrid Compositional Approach to Optimal Mission Planning for Multi-rotor UAVs using Metric Temporal Logic [article]

Usman A. Fiaz, John S. Baras
2019 arXiv   pre-print
This paper investigates a hybrid compositional approach to optimal mission planning for multi-rotor Unmanned Aerial Vehicles (UAVs).  ...  in real-time.  ...  a hybrid model for system dynamics, it is possible to solve the challenging problem of motion planning with rich system dynamics and finite time constraints in real time.  ... 
arXiv:1904.03830v3 fatcat:s5j6kag4gfbpzfhdo7p4seaq5e

2020 Index IEEE Transactions on Intelligent Vehicles Vol. 5

2020 IEEE Transactions on Intelligent Vehicles  
., +, TIV Sept. 2020 475-484 Image motion analysis Looking at Hands in Autonomous Vehicles: A ConvNet Approach Using Part Affinity Fields.  ...  Xu, S., +, TIV June 2020 324-334 Time optimal control Two-Lane Path Planning of Autonomous Vehicles in 2.5D Environments.  ... 
doi:10.1109/tiv.2020.3048338 fatcat:4i46o4q23rftbhh2jzfmbumbey

A hybrid air-sea cooperative approach combined with a swarm trajectory planning method

Salima Bella, Assia Belbachir, Ghalem Belalem
2020 Paladyn: Journal of Behavioral Robotics  
A hybrid approach for unmanned aerial vehicles (UAVs) is introduced to monitor the ocean region and cooperate with swarm of unmanned surface vehicles (USVs) to clean dirty zones.  ...  AbstractThis work addresses the issue of ocean monitoring and clean-up of polluted zones, as well as the notion of trajectory planning and fault tolerance for semi-autonomous unmanned vehicles.  ...  Proposed approach This paper presents a new hybrid approach based on the cooperation of air-sea vehicles.  ... 
doi:10.1515/pjbr-2020-0006 fatcat:wjpbsv56fjgornryrolmpo4nae

A hybrid control approach to action coordination for mobile robots

Magnus Egerstedt, Xiaoming Hu
2002 Automatica  
They thus form a special class of Zeno hybrid automata since they, theoretically, make an in"nite number of transitions in zero time.  ...  In fact, in real life we have a possibility of chattering that here reveals itself as a Zeno execution.  ...  Egerstedt was born in Stockholm, Sweden, in 1971  ... 
doi:10.1016/s0005-1098(01)00185-6 fatcat:vgw62pwmtzf43bkkrwg5epozaa

Formation Control for Non-Holonomic Mobile Robots: A Hybrid Approach [chapter]

Juan Marcos, Flavio Roberti, Ricardo Carelli, Paolo Fiorini
2008 Recent Advances in Multi Robot Systems  
In this chapter, a hybrid approach for the autonomous navigation of a mobile robots team in a specified formation is developed considering a centralized leader-follower controller (Gava et al., 2007)  ...  Based on these observations and in order to present a formal solution, we have developed a hybrid approach for the formation problem.  ...  Formation Control for Non-Holonomic Mobile Robots: A Hybrid Approach, Recent Advances in Multi Robot Systems, Aleksandar Lazinica (Ed.), ISBN: 978-3-902613-24-0, InTech, Available from:  ... 
doi:10.5772/5485 fatcat:bp5pybksqngojoynfjqutibd4u

A Component-Based Approach to Hybrid Systems Safety Verification [chapter]

Andreas Müller, Stefan Mitsch, Werner Retschitzegger, Wieland Schwinger, André Platzer
2016 Lecture Notes in Computer Science  
We study a component-based approach to simplify the challenges of verifying large-scale hybrid systems.  ...  In this paper, we propose a component-based hybrid system verification approach that combines the advantages of component-based modeling (e. g., reduced model complexity) with the advantages of formal  ...  real point in time.  ... 
doi:10.1007/978-3-319-33693-0_28 fatcat:pct5uews6ngubclejh7757gzje


2021 IEEE Transactions on Intelligent Vehicles  
There is currently a huge interest around autonomous vehicles from both industry and academia.  ...  This is mainly due to recent advances in machine learning and deep learning, allowing the development of promising methods for autonomous driving.  ...  approach is used to make the problem computationally feasible in real-time.  ... 
doi:10.1109/tiv.2021.3059618 fatcat:mwkjzjdi2zb65goidppyknkpfq

Autonomous Vehicles on the Edge: A Survey on Autonomous Vehicle Racing [article]

Johannes Betz, Hongrui Zheng, Alexander Liniger, Ugo Rosolia, Phillip Karle, Madhur Behl, Venkat Krovi, Rahul Mangharam
2022 arXiv   pre-print
We focus on the field of autonomous racecars only and display the algorithms, methods and approaches that are used in the fields of perception, planning and control as well as end-to-end learning.  ...  Researchers are developing software and hardware for high performance race vehicles which aim to operate autonomously on the edge of the vehicles limits: High speeds, high accelerations, low reaction times  ...  In more recent years, developments in the hybrid powertrain but also in the connectivity (real-time measurement and transfer of vehicle data) of the vehicles have emerged.  ... 
arXiv:2202.07008v1 fatcat:hwhp43thevd2bighs7y7j7qnam

Autonomous Vehicles on the Edge: A Survey on Autonomous Vehicle Racing

Johannes Betz, Hongrui Zheng, Alexander Liniger, Ugo Rosolia, Phillip Karle, Madhur Behl, Venkat Krovi, Rahul Mangharam
2022 IEEE Open Journal of Intelligent Transportation Systems  
We focus on the field of autonomous racecars only and display the algorithms, methods, and approaches used in the areas of perception, planning, control, and end-to-end learning.  ...  INDEX TERMS Autonomous systems, autonomous vehicles, intelligent vehicles, advanced driver assistance, simultaneous localization and mapping, path planning, control.  ...  Racing." 8 which contributed to the creation of Section V in this survey paper.  ... 
doi:10.1109/ojits.2022.3181510 fatcat:2uu6aowqrrewfbkfrsrmqxpyei
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