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In this paper we present a new lane markers detection and estimation algorithm aiming to improve lane detection methods. We first estimate the area of lane marking using the profile of the lane estimation in a confidence map. After that a fitting method is applied to improve the lane marker detection accuracy. To track our lane markers over time and make the association between two iteration, we use...
Developing autonomous vehicles capable of dealing with complex and dynamic unstructured environments over large-scale distances, remains a challenging goal. One of the major difficulties in this objective is the precise localization of the vehicle within its environment so that autonomous navigation techniques can be employed. In this context, this paper presents a methodology to map building and...
This paper is about underpinning long-term operations of fleets of vehicles using visual localisation. In particular it examines ways in which vehicles, considered as independent agents, can share, update and leverage each others' visual experiences in a mutually beneficial way. We draw on our previous work in Experience-based Navigation (EBN) [1], in which a visual map supporting multiple representations...
We address the important problem of achieving robust and easy-to-deploy visual state estimation for micro aerial vehicles (MAVs) operating in complex environments. We use a sensor suite consisting of multiple cameras and an IMU to maximize perceptual awareness of the surroundings and provide sufficient redundancy against sensor failures. Our approach starts with an online initialization procedure...
This paper presents a robust motion planning methodology for autonomous tracked vehicles navigating in a rough and unknown environment. Two fields of study are dealt with in this paper: motion planning and slip estimation. For the motion planner, the CC-RRT* algorithm is combined with LQG-MP. The motion planner uses a chance-constrained approach and considers the role of compensator in the planning...
This paper explores control of a four rotor aerial vehicle, or quadrotor. The quadrotor exhibits under-damped and under-actuated dynamics, so designing a feedback control that can provide robustness to disturbances such as wind and adapt to payloads provides a research challenge. The Cerebellar Model Articulation Controller (CMAC) is a type of neural network that can provide the basis for a stable...
Localization is a key capability for autonomous vehicles especially in urban scenarios. We propose the use of pole-like landmarks as primary features in these environments, as they are distinct, long-term stable and can be detected reliably with a stereo camera system. Furthermore, the resulting map representation is memory efficient, allowing for easy storage and on-line updates. The localization...
In this paper we face the challenging problem of takeoff and landing on sloped surfaces for a VTOL aerial vehicle. We define the general conditions for a safe and robust maneuver and we analyze and compare two classes of methods to fulfill these conditions: free-flight vs. passively-tethered. Focusing on the less studied tethered method, we show its advantages w.r.t. the free-flight method thanks...
Recently, welfare vehicles are widely used by patients and elders indoors, and many welfare vehicles with free casters drive indoors. However, the vehicle with free casters may not be able to move well on gravel or dirty road as seen in rural yard. In order to expand driving area for welfare vehicles, it is necessary to apply a new mechanism on the rough road. To design compact welfare vehicles for...
The objective of this paper is to address the problem of Fault Detection and Isolation (FDI) on thrusters of an over-actuated Autonomous Underwater Vehicle (AUV) under on/off abrupt faults. The goal is pursued through Non-Linear Principal Component Analysis (NLPCA), which is the non-linear extension of the popular Principal Component Analysis (PCA). While the Fault Detection (FD) system directly exploits...
This paper proposes a robust attitude control strategy for hypersonic reentry vehicles which combines novel time-varying spectrum based active disturbance rejection control techniques with a basic stabilizing controller. These techniques include time-varying tracking differentiator (TTD) and time-varying extended state observer (TESO). By adopting time-varying bandwidth, TTD can adaptively arrange...
We develop a robust, unsupervised vehicle tracking system for videos of very congested road intersections in urban environments. Raw tracklets from the standard Kanade-Lucas-Tomasi tracking algorithm are treated as sample points and grouped to form different vehicle candidates. Each tracklet is described by multiple features including position, velocity, and a foreground score derived from robust...
An efficient recognition framework requires both good feature representation and effective classification methods. This paper proposes such a framework based on a spatial Scale Invariant Feature Transform (SIFT) combined with a logistic regression classifier. The performance of the proposed framework is compared to that of state-of-the-art methods based on the Histogram of Orientation Gradients, SIFT...
Future driver assistance systems will rely heavily on fusion systems and an exact knowledge of the static environment. Several aspects like driving path detection, parking assistants, emergency braking and trajectory planning need the knowledge about non-moving objects in the surroundings of the vehicle. In order to build robust maps of the environment, several possibly conflicting sensor readings...
In this contribution, we propose multilayer adaptive Monte Carlo localization (ML-AMCL) in combination with 3D point registration algorithms as a GPS-independent framework for precise global vehicle pose estimation in challenging urban environments. Scans from a 3D LIDAR sensor are split into a set of horizontal layers which are then used for localization with separate instances of an AMCL algorithm...
For the problem of sideslip control of air cushion vehicle, the sideslip controller of air cushion vehicle based on nonsingular fast terminal slide mode (NFTSM) with the feature of good robustness and fast convergent rate is designed. Also sideslip changer which can supervise the status of system is designed. Sideslip controller can coordinate with heading controller to achieve course control of ACV...
This study presents the indoor automated guided vehicles (AGV) laser navigation method on under-determined environments. Typical laser navigation system working well based on at least three reflectors. However, for the complex environment, dependent on obstacles shelves and goods, it is hard to install reflectors in expected points result in the laser scanner probably receive reflecting signal from...
Since the complex outliers caused by the background and non-rigid deformation, image registration remains a challenging task. This paper proposes a new method for image registration, which is robust to the transformations with rotation, scale and translation. Our method is under the general Iterative Closet Point (ICP) framework which contains two main parts: finding the corresponding points and updating...
A robust approach to integrated guidance and control (IGC) involving a terminal angular constraint for hypersonic vehicles is proposed in this paper. A novel state-space model of a hypersonic vehicle that is suitable for bank-to-turn (BTT) technology is established by combining the line-of-sight (LOS) equations describing the relative motion between the vehicle and the target with the attitude motion...
This article addresses the problem of a real-time implementation trajectory control for a miniature Quad-rotor aircraft along a time-depedent trajectory outdoor. A robust algorithm control based on sliding mode approach is proposed for the trajectory-tracking task, that ensures the convergence to a desired path r(t) in a finite time. A polynomial smooth curve trajectory is selected as reference signal...
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