12 accepted papers
Multi-depot multi-agent collaborative coverage is a representative problem in swarm intelligence, with broad applications in real-world scenarios. In this problem, multiple agents are initially located at different depots, which differs from the traditional problem setting, and are required to colla
Autonomous vehicles and robots rely on accurate odometry estimation in GPS-denied environments. While LiDARs and cameras struggle under extreme weather, 4D mmWave radar emerges as a robust alternative with all-weather operability and velocity measurement. In this paper, we introduce Equi-RO, an equi
While cooperative perception can overcome the limitations of single-vehicle systems, the practical implementation of vehicle-to-vehicle and vehicle-to-infrastructure systems is often impeded by significant economic barriers. Aerial-ground cooperation (AGC), which pairs ground vehicles with drones, p
Cooperative 3D perception via Vehicle-to-Everything communication is a promising paradigm for enhancing autonomous driving, offering extended sensing horizons and occlusion resolution. However, the practical deployment of existing methods is hindered at long distances by two critical bottlenecks: th
The growing demand for high-quality 3D mesh models has fueled the need for efficient 3D mesh compression techniques. However, existing methods often exhibit suboptimal compression performance due to the inefficient representation of mesh data. To address this issue, we propose a novel neural mesh co…
Cooperative perception is critical for autonomous driving, overcoming the inherent limitations of a single vehicle, such as occlusions and constrained fields-of-view. However, current approaches sharing dense Bird
Safety is one of the most crucial challenges of autonomous driving vehicles, and one solution to guarantee safety is to employ an additional control revision module after the planning backbone. Control Barrier Function (CBF) has been widely used because of its strong mathematical foundation on safet
Evaluating autonomous driving systems in complex and diverse traffic scenarios through controllable simulation is essential to ensure their safety and reliability. However, existing traffic simulation methods face challenges in their controllability. To address this, we propose a novel diffusion-bas
Multimodal large language models (MLLMs) possess the ability to comprehend visual images or videos, and show impressive reasoning ability thanks to the vast amounts of pretrained knowledge, making them highly suitable for autonomous driving applications. Unlike the previous work, DriveGPT4-V1, which…
End-to-end autonomous driving offers a stream-lined alternative to the traditional modular pipeline, integrating perception, prediction, and planning within a single framework. While Deep Reinforcement Learning (DRL) has recently gained traction in this domain, existing approaches often overlook the
Visual bird’s eye view (BEV) perception, dute to its excellent perceptual capabilities, is progressively replacing costly LiDAR-based perception systems, especially in the realm of urban intelligent driving. However, this type of perception still relies on LiDAR data to construct ground truth databa
Safety certificates based on energy functions can provide demonstrable safety for complex robotic systems. However, all recent studies on learning-based energy function synthesis only consider the feasibility of the control policy, which might cause over-conservativeness and even fail to achieve the…