Alexander G. Cunningham — accepted AI-conference papers

2015

Continuous-time estimation for dynamic obstacle tracking

Arash K. Ushani, Nicholas Carlevaris-Bianco, Alexander G. Cunningham, Enric Galceran, Ryan M. Eustice

IROS 2015poster

This paper reports on a system for dynamic obstacle tracking for autonomous vehicles. In this work, we seek to simultaneously estimate both the trajectory of the obstacle and the obstacle's shape. These two tasks are inherently coupled-given only noisy partial views, one cannot accurately estimate t…

Cited by 16 Source ↗Scholar ↗

2015

Cooperative localization by factor composition over a faulty low-bandwidth communication channel

Jeffrey M. Walls, Alexander G. Cunningham, Ryan M. Eustice

ICRA 2015poster

This paper reports on an underwater cooperative localization algorithm for faulty low-bandwidth communication channels based on a factor graph estimation framework. Vehicles measure the one-way-travel-time (OWTT) of acoustic broadcasts to obtain a relative range observation to the transmitting vehic…

Cited by 37 Source ↗Scholar ↗

2015

MPDM: Multipolicy decision-making in dynamic, uncertain environments for autonomous driving

Alexander G. Cunningham, Enric Galceran, Ryan M. Eustice, Edwin Olson

ICRA 2015poster

Real-world autonomous driving in city traffic must cope with dynamic environments including other agents with uncertain intentions. This poses a challenging decision-making problem, e.g., deciding when to perform a passing maneuver or how to safely merge into traffic. Previous work in the literature…

Cited by 206 Source ↗Scholar ↗