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Real Time Predictive Modeling And Robust Avoidance Of Pedestrians With Uncertain Changing Intentions
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Book Synopsis Real-time Predictive Modeling and Robust Avoidance of Pedestrians with Uncertain, Changing Intentions by : Sarah Kathryn Ferguson
Download or read book Real-time Predictive Modeling and Robust Avoidance of Pedestrians with Uncertain, Changing Intentions written by Sarah Kathryn Ferguson and published by . This book was released on 2014 with total page 102 pages. Available in PDF, EPUB and Kindle. Book excerpt: To plan safe trajectories in urban environments, autonomous vehicles must be able to interact safely and intelligently with other dynamic agents. Due to the inherent structure of these environments, drivers and pedestrians tend to exhibit a common set of motion patterns. The challenges are therefore to learn these motion patterns such that they can be used to predict future trajectories, and to plan safe paths that incorporate these predictions. This thesis considers the modeling and robust avoidance of pedestrians in real time. Pedestrians are particularly difficult to model, as their motion patterns are often uncertain and/or unknown a priori. The modeling approach incorporates uncertainty in both intent (i.e., where is the pedestrian going?) and trajectory associated with each intent (i.e., how will he/she get to this location?), both of which are necessary for robust collision avoidance. A novel changepoint detection and clustering algorithm (Changepoint-DPGP) is presented to enable quick detection of changes in pedestrian behavior and online learning of new behaviors not previously observed in prior training data. The resulting long-term movement predictions demonstrate improved accuracy in terms of both intent and trajectory prediction, relative to existing methods which consider only intent or trajectory. An additional contribution of this thesis is the integration of these predictions with a chance-constrained motion planner, such that trajectories which are probabilistically safe to pedestrian motions can be identified in real-time. Hardware components and relevant control and data acquisition algorithms for an autonomous test vehicle are implemented and developed. Experiments demonstrate that an autonomous mobile robot utilizing this framework can accurately predict pedestrian motion patterns from onboard sensor/perception data and safely navigate within a dynamic environment
Book Synopsis Algorithmic Foundations of Robotics XI by : H. Levent Akin
Download or read book Algorithmic Foundations of Robotics XI written by H. Levent Akin and published by Springer. This book was released on 2015-04-30 with total page 750 pages. Available in PDF, EPUB and Kindle. Book excerpt: This carefully edited volume is the outcome of the eleventh edition of the Workshop on Algorithmic Foundations of Robotics (WAFR), which is the premier venue showcasing cutting edge research in algorithmic robotics. The eleventh WAFR, which was held August 3-5, 2014 at Boğaziçi University in Istanbul, Turkey continued this tradition. This volume contains extended versions of the 42 papers presented at WAFR. These contributions highlight the cutting edge research in classical robotics problems (e.g. manipulation, motion, path, multi-robot and kinodynamic planning), geometric and topological computation in robotics as well novel applications such as informative path planning, active sensing and surgical planning. This book - rich by topics and authoritative contributors - is a unique reference on the current developments and new directions in the field of algorithmic foundations.
Book Synopsis Collaborative and Humanoid Robots by : Jesus Hamilton Ortiz
Download or read book Collaborative and Humanoid Robots written by Jesus Hamilton Ortiz and published by BoD – Books on Demand. This book was released on 2021-09-29 with total page 184 pages. Available in PDF, EPUB and Kindle. Book excerpt: Collaborative and Humanoid Robots guides readers through the fundamentals and state-of-the-art concepts and future expectations of robotics. It showcases interesting research topics on robots and cobots by researchers, industry practitioners, and academics. Divided into two sections on “Collaborative Robots” and “Humanoid Robots,” this book includes surveys of recent publications that investigative the interaction between humanoid robots and humans; safe adaptive trajectory tracking control of robots; 3D printed, self-learning robots; robot trajectory, guidance, and control; social robots; Tiny Blind assistive humanoid robots; and more.
Book Synopsis Algorithmic Foundations of Robotics X by : Emilio Frazzoli
Download or read book Algorithmic Foundations of Robotics X written by Emilio Frazzoli and published by Springer. This book was released on 2013-02-14 with total page 625 pages. Available in PDF, EPUB and Kindle. Book excerpt: Algorithms are a fundamental component of robotic systems. Robot algorithms process inputs from sensors that provide noisy and partial data, build geometric and physical models of the world, plan high-and low-level actions at different time horizons, and execute these actions on actuators with limited precision. The design and analysis of robot algorithms raise a unique combination of questions from many elds, including control theory, computational geometry and topology, geometrical and physical modeling, reasoning under uncertainty, probabilistic algorithms, game theory, and theoretical computer science. The Workshop on Algorithmic Foundations of Robotics (WAFR) is a single-track meeting of leading researchers in the eld of robot algorithms. Since its inception in 1994, WAFR has been held every other year, and has provided one of the premiere venues for the publication of some of the eld's most important and lasting contributions. This books contains the proceedings of the tenth WAFR, held on June 13{15 2012 at the Massachusetts Institute of Technology. The 37 papers included in this book cover a broad range of topics, from fundamental theoretical issues in robot motion planning, control, and perception, to novel applications.
Book Synopsis Creating Autonomous Vehicle Systems by : Shaoshan Liu
Download or read book Creating Autonomous Vehicle Systems written by Shaoshan Liu and published by Morgan & Claypool Publishers. This book was released on 2017-10-25 with total page 285 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is the first technical overview of autonomous vehicles written for a general computing and engineering audience. The authors share their practical experiences of creating autonomous vehicle systems. These systems are complex, consisting of three major subsystems: (1) algorithms for localization, perception, and planning and control; (2) client systems, such as the robotics operating system and hardware platform; and (3) the cloud platform, which includes data storage, simulation, high-definition (HD) mapping, and deep learning model training. The algorithm subsystem extracts meaningful information from sensor raw data to understand its environment and make decisions about its actions. The client subsystem integrates these algorithms to meet real-time and reliability requirements. The cloud platform provides offline computing and storage capabilities for autonomous vehicles. Using the cloud platform, we are able to test new algorithms and update the HD map—plus, train better recognition, tracking, and decision models. This book consists of nine chapters. Chapter 1 provides an overview of autonomous vehicle systems; Chapter 2 focuses on localization technologies; Chapter 3 discusses traditional techniques used for perception; Chapter 4 discusses deep learning based techniques for perception; Chapter 5 introduces the planning and control sub-system, especially prediction and routing technologies; Chapter 6 focuses on motion planning and feedback control of the planning and control subsystem; Chapter 7 introduces reinforcement learning-based planning and control; Chapter 8 delves into the details of client systems design; and Chapter 9 provides the details of cloud platforms for autonomous driving. This book should be useful to students, researchers, and practitioners alike. Whether you are an undergraduate or a graduate student interested in autonomous driving, you will find herein a comprehensive overview of the whole autonomous vehicle technology stack. If you are an autonomous driving practitioner, the many practical techniques introduced in this book will be of interest to you. Researchers will also find plenty of references for an effective, deeper exploration of the various technologies.
Book Synopsis Multiscale Modeling of Pedestrian Dynamics by : Emiliano Cristiani
Download or read book Multiscale Modeling of Pedestrian Dynamics written by Emiliano Cristiani and published by Springer. This book was released on 2014-09-12 with total page 271 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents mathematical models and numerical simulations of crowd dynamics. The core topic is the development of a new multiscale paradigm, which bridges the microscopic and macroscopic scales taking the most from each of them for capturing the relevant clues of complexity of crowds. The background idea is indeed that most of the complex trends exhibited by crowds are due to an intrinsic interplay between individual and collective behaviors. The modeling approach promoted in this book pursues actively this intuition and profits from it for designing general mathematical structures susceptible of application also in fields different from the inspiring original one. The book considers also the two most traditional points of view: the microscopic one, in which pedestrians are tracked individually and the macroscopic one, in which pedestrians are assimilated to a continuum. Selected existing models are critically analyzed. The work is addressed to researchers and graduate students.
Book Synopsis Decision Making Under Uncertainty by : Mykel J. Kochenderfer
Download or read book Decision Making Under Uncertainty written by Mykel J. Kochenderfer and published by MIT Press. This book was released on 2015-07-24 with total page 350 pages. Available in PDF, EPUB and Kindle. Book excerpt: An introduction to decision making under uncertainty from a computational perspective, covering both theory and applications ranging from speech recognition to airborne collision avoidance. Many important problems involve decision making under uncertainty—that is, choosing actions based on often imperfect observations, with unknown outcomes. Designers of automated decision support systems must take into account the various sources of uncertainty while balancing the multiple objectives of the system. This book provides an introduction to the challenges of decision making under uncertainty from a computational perspective. It presents both the theory behind decision making models and algorithms and a collection of example applications that range from speech recognition to aircraft collision avoidance. Focusing on two methods for designing decision agents, planning and reinforcement learning, the book covers probabilistic models, introducing Bayesian networks as a graphical model that captures probabilistic relationships between variables; utility theory as a framework for understanding optimal decision making under uncertainty; Markov decision processes as a method for modeling sequential problems; model uncertainty; state uncertainty; and cooperative decision making involving multiple interacting agents. A series of applications shows how the theoretical concepts can be applied to systems for attribute-based person search, speech applications, collision avoidance, and unmanned aircraft persistent surveillance. Decision Making Under Uncertainty unifies research from different communities using consistent notation, and is accessible to students and researchers across engineering disciplines who have some prior exposure to probability theory and calculus. It can be used as a text for advanced undergraduate and graduate students in fields including computer science, aerospace and electrical engineering, and management science. It will also be a valuable professional reference for researchers in a variety of disciplines.
Book Synopsis Traffic and Granular Flow '15 by : Victor L. Knoop
Download or read book Traffic and Granular Flow '15 written by Victor L. Knoop and published by Springer. This book was released on 2016-12-10 with total page 641 pages. Available in PDF, EPUB and Kindle. Book excerpt: The Conference on Traffic and Granular Flow brings together international researchers from different fields ranging from physics to computer science and engineering to discuss the latest developments in traffic-related systems. Originally conceived to facilitate new ideas by considering the similarities of traffic and granular flow, TGF'15, organised by Delft University of Technology, now covers a broad range of topics related to driven particle and transport systems. Besides the classical topics of granular flow and highway traffic, its scope includes data transport (Internet traffic), pedestrian and evacuation dynamics, intercellular transport, swarm behaviour and the collective dynamics of other biological systems. Recent advances in modelling, computer simulation and phenomenology are presented, and prospects for applications, for example to traffic control, are discussed. The conference explores the interrelations between the above-mentioned fields and offers the opportunity to stimulate interdisciplinary research, exchange ideas, and meet many experts in these areas of research.
Book Synopsis Road Vehicle Automation 3 by : Gereon Meyer
Download or read book Road Vehicle Automation 3 written by Gereon Meyer and published by Springer. This book was released on 2016-07-01 with total page 292 pages. Available in PDF, EPUB and Kindle. Book excerpt: This edited book comprises papers about the impacts, benefits and challenges of connected and automated cars. It is the third volume of the LNMOB series dealing with Road Vehicle Automation. The book comprises contributions from researchers, industry practitioners and policy makers, covering perspectives from the U.S., Europe and Japan. It is based on the Automated Vehicles Symposium 2015 which was jointly organized by the Association of Unmanned Vehicle Systems International (AUVSI) and the Transportation Research Board (TRB) in Ann Arbor, Michigan, in July 2015. The topical spectrum includes, but is not limited to, public sector activities, human factors, ethical and business aspects, energy and technological perspectives, vehicle systems and transportation infrastructure. This book is an indispensable source of information for academic researchers, industrial engineers and policy makers interested in the topic of road vehicle automation.
Book Synopsis Traffic and Granular Flow 2019 by : Iker Zuriguel
Download or read book Traffic and Granular Flow 2019 written by Iker Zuriguel and published by Springer. This book was released on 2020-11-17 with total page 611 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book gathers contributions on a variety of flowing collective systems. While primarily focusing on pedestrian dynamics, they also reflect the latest developments in areas such as vehicular traffic and granular flows and address related emerging topics such as self-propelled particles, data transport, swarm behavior, intercellular transport, and collective dynamics of biological systems. Combining fundamental research and practical applications in the various fields discussed, the book offers a valuable asset for researchers and practitioners alike.
Book Synopsis The DARPA Urban Challenge by : Martin Buehler
Download or read book The DARPA Urban Challenge written by Martin Buehler and published by Springer. This book was released on 2009-11-26 with total page 651 pages. Available in PDF, EPUB and Kindle. Book excerpt: By the dawn of the new millennium, robotics has undergone a major transformation in scope and dimensions. This expansion has been brought about by the maturity of the field and the advances in its related technologies. From a largely dominant industrial focus, robotics has been rapidly expanding into the challenges of the human world. The new generation of robots is expected to safely and dependably co-habitat with humans in homes, workplaces, and communities, providing support in services, entertainment, education, healthcare, manufacturing, and assistance. Beyond its impact on physical robots, the body of knowledge robotics has produced is revealing a much wider range of applications reaching across diverse research areas and scientific disciplines, such as: biomechanics, haptics, neurosciences, virtual simulation, animation, surgery, and sensor networks among others. In return, the challenges of the new emerging areas are proving an abundant source of stimulation and insights for the field of robotics. It is indeed at the intersection of disciplines that the most striking advances happen. The goal of the series of Springer Tracts in Advanced Robotics (STAR) is to bring, in a timely fashion, the latest advances and developments in robotics on the basis of their significance and quality. It is our hope that the wider dissemination of research developments will stimulate more exchanges and collaborations among the research community and contribute to further advancement of this rapidly growing field.
Book Synopsis Field and Service Robotics by : Christian Laugier
Download or read book Field and Service Robotics written by Christian Laugier and published by Springer Science & Business Media. This book was released on 2008-04-24 with total page 589 pages. Available in PDF, EPUB and Kindle. Book excerpt: This books presents the results of the 6th edition of "Field and Service Robotics" FSR03, held in Chamonix, France, July 2007. The conference provided a forum for researchers, professionals and robot manufacturers to exchange up-to-date technical knowledge and experience. This book offers a collection of a broad range of topics including: Underwater Robots and Systems, Autonomous Navigation for Unmanned Aerial Vehicles, Simultaneous Localization and Mapping, and Climbing Robotics.
Book Synopsis Autonomous Driving by : Markus Maurer
Download or read book Autonomous Driving written by Markus Maurer and published by Springer. This book was released on 2016-05-21 with total page 698 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book takes a look at fully automated, autonomous vehicles and discusses many open questions: How can autonomous vehicles be integrated into the current transportation system with diverse users and human drivers? Where do automated vehicles fall under current legal frameworks? What risks are associated with automation and how will society respond to these risks? How will the marketplace react to automated vehicles and what changes may be necessary for companies? Experts from Germany and the United States define key societal, engineering, and mobility issues related to the automation of vehicles. They discuss the decisions programmers of automated vehicles must make to enable vehicles to perceive their environment, interact with other road users, and choose actions that may have ethical consequences. The authors further identify expectations and concerns that will form the basis for individual and societal acceptance of autonomous driving. While the safety benefits of such vehicles are tremendous, the authors demonstrate that these benefits will only be achieved if vehicles have an appropriate safety concept at the heart of their design. Realizing the potential of automated vehicles to reorganize traffic and transform mobility of people and goods requires similar care in the design of vehicles and networks. By covering all of these topics, the book aims to provide a current, comprehensive, and scientifically sound treatment of the emerging field of “autonomous driving".
Book Synopsis Autonomous Horizons by : Greg Zacharias
Download or read book Autonomous Horizons written by Greg Zacharias and published by Independently Published. This book was released on 2019-04-05 with total page 420 pages. Available in PDF, EPUB and Kindle. Book excerpt: Dr. Greg Zacharias, former Chief Scientist of the United States Air Force (2015-18), explores next steps in autonomous systems (AS) development, fielding, and training. Rapid advances in AS development and artificial intelligence (AI) research will change how we think about machines, whether they are individual vehicle platforms or networked enterprises. The payoff will be considerable, affording the US military significant protection for aviators, greater effectiveness in employment, and unlimited opportunities for novel and disruptive concepts of operations. Autonomous Horizons: The Way Forward identifies issues and makes recommendations for the Air Force to take full advantage of this transformational technology.
Book Synopsis Real-Time Collision Detection by : Christer Ericson
Download or read book Real-Time Collision Detection written by Christer Ericson and published by CRC Press. This book was released on 2004-12-22 with total page 634 pages. Available in PDF, EPUB and Kindle. Book excerpt: Written by an expert in the game industry, Christer Ericson's new book is a comprehensive guide to the components of efficient real-time collision detection systems. The book provides the tools and know-how needed to implement industrial-strength collision detection for the highly detailed dynamic environments of applications such as 3D games, virt
Book Synopsis Motion Planning in Dynamic Environments by : Kikuo Fujimura
Download or read book Motion Planning in Dynamic Environments written by Kikuo Fujimura and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 190 pages. Available in PDF, EPUB and Kindle. Book excerpt: Computer Science Workbench is a monograph series which will provide you with an in-depth working knowledge of current developments in computer technology. Every volume in this series will deal with a topic of importance in computer science and elaborate on how you yourself can build systems related to the main theme. You will be able to develop a variety of systems, including computer software tools, computer graphics, computer animation, database management systems, and computer-aided design and manufacturing systems. Computer Science Workbench represents an important new contribution in the field of practical computer technology. TOSIYASU L. KUNII To my parents Kenjiro and Nori Fujimura Preface Motion planning is an area in robotics that has received much attention recently. Much of the past research focuses on static environments - various methods have been developed and their characteristics have been well investigated. Although it is essential for autonomous intelligent robots to be able to navigate within dynamic worlds, the problem of motion planning in dynamic domains is relatively little understood compared with static problems.
Book Synopsis Real-Time Systems Design and Analysis by : Phillip A. Laplante
Download or read book Real-Time Systems Design and Analysis written by Phillip A. Laplante and published by Wiley-IEEE Press. This book was released on 1997 with total page 392 pages. Available in PDF, EPUB and Kindle. Book excerpt: "IEEE Press is pleased to bring you this Second Edition of Phillip A. Laplante's best-selling and widely-acclaimed practical guide to building real-time systems. This book is essential for improved system designs, faster computation, better insights, and ultimate cost savings. Unlike any other book in the field, REAL-TIME SYSTEMS DESIGN AND ANALYSIS provides a holistic, systems-based approach that is devised to help engineers write problem-solving software. Laplante's no-nonsense guide to real-time system design features practical coverage of: Related technologies and their histories Time-saving tips * Hands-on instructions Pascal code Insights into decreasing ramp-up times and more!"
