Serwis Infona wykorzystuje pliki cookies (ciasteczka). Są to wartości tekstowe, zapamiętywane przez przeglądarkę na urządzeniu użytkownika. Nasz serwis ma dostęp do tych wartości oraz wykorzystuje je do zapamiętania danych dotyczących użytkownika, takich jak np. ustawienia (typu widok ekranu, wybór języka interfejsu), zapamiętanie zalogowania. Korzystanie z serwisu Infona oznacza zgodę na zapis informacji i ich wykorzystanie dla celów korzytania z serwisu. Więcej informacji można znaleźć w Polityce prywatności oraz Regulaminie serwisu. Zamknięcie tego okienka potwierdza zapoznanie się z informacją o plikach cookies, akceptację polityki prywatności i regulaminu oraz sposobu wykorzystywania plików cookies w serwisie. Możesz zmienić ustawienia obsługi cookies w swojej przeglądarce.
The goal of the work in this paper is to use occupancy grid in integrating safety distances with the planning strategy for autonomous vehicle navigation. The challenge is to avoid static and dynamic obstacles at high speed with respect to some specific road rules while following a global reference trajectory. Our local trajectory planning algorithm is based on the method of clothoid tentacles. It...
Formally verified methods for motion planning are required in order to guarantee safety for autonomous vehicles. In particular, we consider trajectory generation by considering the most probable trajectory of other traffic participants. However, if the surrounding vehicles perform unexpected maneuvers, a collision might be inevitable. In this paper, a fail-safe motion planner is developed, which generates...
In the first part of the article is a methodology for implementing a model-driven safety analysis of dynamical technology systems. The safety analysis is performed in the development of control system, mainly aiming at critical processes of system operation. I divided my methodology into five steps. These steps of the methodology was carried out in a hierarchical sequence. The objective of the second...
Visible Light Communication (VLC) is a new emerging technology that is being proposed as a reliable and supportive choice for short range communications in ITS. On the same context, Laser Range Finders (LRF) sensors are used for the vehicular environment perception. Compared to VLC, LRF can provide more coverage range and extended viewing angle. To take the full advantages of both technologies features,...
Both safety and non-safety applications of vehicular networks rely on accurate position information. However, accurate localization of a vehicle in a global navigation satellite system (GNSS) denied environment is a challenging and still open research problem. The 802.11p dedicated short-range communication systems (DSRC), designed for vehicle-to-vehicle and vehicle-to-infrastructure communications,...
In this paper, we propose a new approach of indexing trajectories to efficiently distinguish abnormal behaviors from normal ones. After a discretization step, trajectories are considered as sets of triplets (location, velocity, direction). Those triplets are seen as words and a multinomial modeling is learned to estimate the probability of each word. The originality of our work consists in computing...
Potential disruption stemming from self-driving vehicle (SDV) technology may change not just vehicles, but the foundations of our mobilities. As an example of analysing SDV technological development, this paper focuses on SDV intersection control. The starting premise is that technological development requires an understanding of previous developmental trajectories and potential future needs, rather...
Policy Gradient methods require many real-world trials. Some of the trials may endanger the robot system and cause its rapid wear. Therefore, a safe or at least gentle-to-wear exploration is a desired property. We incorporate bounds on the probability of unwanted trials into the recent Contextual Relative Entropy Policy Search method. The proposed algorithm is evaluated on the task of autonomous flipper...
Conventional path planning algorithms compute a single path through the configuration space. There is no guarantee that a physical robot will be able to track the trajectory while avoiding collisions, particularly in the presence of environmental perturbations and errors in the process model. Sequential composition combines planning and control by computing a sequence of controllers to execute rather...
Autonomous Vehicle (AV) or self-driving vehicle technology promises to provide many economical and societal benefits and impacts. Safety is on the top of these benefits. Trajectory or path planning is one of the essential and critical tasks in operating the autonomous vehicle. In this paper we are tackling the problem of trajectory planning for fully-autonomous vehicles. Our use cases are designed...
This paper presents a method to determine distance between human operator and SCARA robot using computer vision in order to provide a safe workstation for human robot collaboration. Kinect sensor is used as the input device to the system. Kinect has four streams of data among which depth data is effectively used in this approach. The measured distance is used to calculate danger index. Online trajectory...
Based on current technologies, automated driving systems needs the human driver to monitor the environment and the machine. One way to enhance the driver to watch the environment is to make him/her put his/her hands on the steering wheel. Under the condition that the human collaborates with the automation, it is important for the automation to be designed that the automation is trustworthy. One of...
This paper proposes a motion planning method for an autonomous vehicle in an urban environment. The proposed method generates trajectories using the closed-loop forward simulation (CLFS), which can consider various properties of an autonomous vehicle. The safeties of the generated trajectories are evaluated using an occupancy grid map. Using the proposed method, smooth and safe trajectories can be...
We present a framework for online coordinated obstacle avoidance with formal safety guarantees. Such a formally verified trajectory planner can be used in shared human-robot workspaces to guarantee safety. The obstacle avoidance is based on estimation of the human occupancy on two different time scales. A long-term plan is created based on a probabilistic task representation, learned by demonstration,...
An autonomous integrated Loss-of-Control (LOC) Prevention and Recovery (iLOCPR) system for UAVs is proposed with four operation modes: a nominal mode designed for 6 degree-of-freedom (DOF) trajectory tracking by trajectory linearization control; a LOC prevention mode designed by bandwidth adaptation augmentation to the baseline nominal controller for increasing the stability margin in the presence...
Over the years, autonomous systems have entered almost all the facets of human life. Gradually, higher levels of autonomy are being incorporated into cyber-physical systems (CPS) and Internet-of-things (IoT) devices. However, safety and security has always been a lurking fear behind adoption of autonomous systems such as self-driving vehicles. To address these issues, we develop a framework for quantifying...
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...
Robot navigation in human environments has been in the eyes of researchers for the last few years. Robots operating under these circumstances have to take human awareness into consideration for safety and acceptance reasons. Nonetheless, navigation have been often treated as going towards a goal point or avoiding people, without considering the robot engaging a person or a group of people in order...
With the increasing amount of Automatic Identification System, AIS data, an effective analysis method and technology for large-scale data are a challenge. Information visualization is a suitable technology for people without professional data mining knowledge, such as navigation managers and ship drivers, for understanding mass AIS data. We implement direct and summary visualization of AIS information...
Aerial robots such as quadrotors are subject to range, power, communication, and collision constraints, which have to be strictly enforced for safe operation. Such constraints are dynamic constraints and require the state of the system to be forward-invariant with respect to a safe set. We propose a control design method for a planar quadrotor subject to collision safety constraints. The proposed...
Podaj zakres dat dla filtrowania wyświetlonych wyników. Możesz podać datę początkową, końcową lub obie daty. Daty możesz wpisać ręcznie lub wybrać za pomocą kalendarza.