5 accepted papers
Tracking multiple moving objects of interest (OOI) with multiple robot systems (MRS) has been addressed by active sensing that maintains a shared belief of OOIs and plans the motion of robots to maximize the information quality. Mobility of robots enables the behavior of pursuing better visibility,…
This letter proposes a path planner that reshapes a global path locally in response to sensor-based observations of obstacles in the environment. Two fundamental concepts enable the resultant algorithm (a) a path-following <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://ww
In target tracking with mobile multi-sensor sys-tems, sensor deployment impacts the observation capabilities and the resulting state estimation quality. Based on a partially observable Markov decision process (POMDP) formulation comprised of the observable sensor dynamics, unobservable target states…
Typical numerical solutions to planning problems under time-dependent constraints (like traffic signals) involve searching in time plus state space. We consider a sampled discrete spatial formulation of the vehicle dynamics. This allows us to propose an optimal planning algorithm with much reduced s
Drivers and other road users often encounter situations (e.g., arriving at an intersection simultaneously) where priority is ambiguous or unclear but must be resolved via communication to reach agreement. This poses a challenge for autonomous vehicles, for which no direct means for expressing intent…