The safety filter: A unified view of safety-critical control in autonomous systems
Recent years have seen significant progress in the realm of robot autonomy, accompanied
by the expanding reach of robotic technologies. However, the emergence of new …
by the expanding reach of robotic technologies. However, the emergence of new …
Uncertainties in onboard algorithms for autonomous vehicles: Challenges, mitigation, and perspectives
K Yang, X Tang, J Li, H Wang, G Zhong… - IEEE Transactions …, 2023 - ieeexplore.ieee.org
Autonomous driving is considered one of the revolutionary technologies shaping humanity's
future mobility and quality of life. However, safety remains a critical hurdle in the way of …
future mobility and quality of life. However, safety remains a critical hurdle in the way of …
Set-based prediction of traffic participants considering occlusions and traffic rules
M Koschi, M Althoff - IEEE Transactions on Intelligent Vehicles, 2020 - ieeexplore.ieee.org
Provably safe motion planning for automated road vehicles must ensure that planned
motions do not result in a collision with other traffic participants. This is a major challenge in …
motions do not result in a collision with other traffic participants. This is a major challenge in …
Occlusion-aware risk assessment for autonomous driving in urban environments
MY Yu, R Vasudevan… - IEEE Robotics and …, 2019 - ieeexplore.ieee.org
Navigating safely in urban environments remains a challenging problem for autonomous
vehicles. Occlusion and limited sensor range can pose significant challenges to safely …
vehicles. Occlusion and limited sensor range can pose significant challenges to safely …
A POMDP maneuver planner for occlusions in urban scenarios
Behavior planning in urban environments must consider the various existing uncertainties in
an explicit way. This work proposes a behavior planner, based on a POMDP formulation …
an explicit way. This work proposes a behavior planner, based on a POMDP formulation …
Safe occlusion-aware autonomous driving via game-theoretic active perception
Autonomous vehicles interacting with other traffic participants heavily rely on the perception
and prediction of other agents' behaviors to plan safe trajectories. However, as occlusions …
and prediction of other agents' behaviors to plan safe trajectories. However, as occlusions …
Potential risk assessment for safe driving of autonomous vehicles under occluded vision
D Wang, W Fu, Q Song, J Zhou - Scientific reports, 2022 - nature.com
This study aimed to explore how autonomous vehicles can predict potential risks and
efficiently pass through the dangerous interaction areas in the face of occluded scenes or …
efficiently pass through the dangerous interaction areas in the face of occluded scenes or …
A safe hierarchical planning framework for complex driving scenarios based on reinforcement learning
Autonomous vehicles need to handle various traffic conditions and make safe and efficient
decisions and maneuvers. However, on the one hand, a single optimization/sampling-based …
decisions and maneuvers. However, on the one hand, a single optimization/sampling-based …
Decision making through occluded intersections for autonomous driving
Driving in unsignalized intersections poses significant challenges for autonomous vehicles,
as various uncertainties are involved. On one hand, behaviors of vehicles in the observable …
as various uncertainties are involved. On one hand, behaviors of vehicles in the observable …
Uncertainty-aware decision-making for autonomous driving at uncontrolled intersections
Reinforcement learning (RL) has been widely used in the decision-making of autonomous
vehicles (AVs) in recent studies. However, existing RL methods generally find the optimal …
vehicles (AVs) in recent studies. However, existing RL methods generally find the optimal …