7 accepted papers
Detection and segmentation of moving obstacles, along with prediction of the future occupancy states of the local environment, are essential for autonomous vehicles to proactively make safe and informed decisions. In this paper, we propose a framework that integrates the two capabilities together us…
This paper addresses a safe planning and control problem for mobile robots operating in communication- and sensor-limited dynamic environments. In this case the robots cannot sense the objects around them and must instead rely on intermittent, external information about the environment, as e.g., in…
Changes in model dynamics due to factors like actuator faults, platform aging, and unexpected disturbances can challenge an autonomous robot during real-world operations affecting its intended behavior and safety. Under such circumstances, it becomes critical to improve tracking performance, predict
Due to changes in model dynamics or unexpected disturbances, an autonomous robotic system may experience unforeseen challenges during real-world operations which may affect its safety and intended behavior: in particular actuator and system failures and external disturbances are among the most commo…
Autonomous vehicles are typically developed and trained to work under certain system and environmental conditions defined at design time and can fail or perform poorly if unforeseen conditions such as disturbances or changes in model dynamics appear at runtime. In this work, we present a fast online…
In this paper, we present a fast run-time monitoring framework for safety assurance during autonomous system operations in uncertain environments. Modern unmanned vehicles rely on periodic sensor measurements for motion planning and control. However, a vehicle may not always be able to obtain its st…
Modern unmanned aerial vehicles (UAVs) rely on constant periodic sensor measurements to detect and avoid obstacles. However, constant checking and replanning are time and energy consuming and are often not necessary especially in situations in which the UAV can safely fly in uncluttered environments…