Safe, socially compliant, and efficient navigation of low-speed autonomous vehicles (AVs) in pedestrian-rich environments necessitates considering pedestrians' future positions and interactions with the vehicle an...
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Safe, socially compliant, and efficient navigation of low-speed autonomous vehicles (AVs) in pedestrian-rich environments necessitates considering pedestrians' future positions and interactions with the vehicle and others. Despite the inevitable uncertainties associated with pedestrians' predicted trajectories due to their unobserved states (e.g., intent), existing deep reinforcement learning (DRL) algorithms for crowd navigation often neglect these uncertainties when using predicted trajectories to guide policy learning. This omission limits the usability of predictions when diverging from ground truth. This work introduces an integrated prediction and planning approach that incorporates the uncertainties of predicted pedestrian states in the training of a model-free DRL algorithm. A novel reward function encourages the AV to respect pedestrians' personal space, decrease speed during close approaches, and minimize the collision probability with their predicted paths. Unlike previous DRL methods, our model, designed for AV operation in crowded spaces, is trained in a novel simulation environment that reflects realistic pedestrian behaviour in a shared space with vehicles. Results show a 40% decrease in collision rate and a 15% increase in minimum distance to pedestrians compared to the state of the art model that does not account for prediction uncertainty. Additionally, the approach outperforms model predictive control methods that incorporate the same prediction uncertainties in terms of both performance and computational time, while producing trajectories closer to human drivers in similar scenarios. IEEE
Data privacy concerns in the power systems sector significantly complicate the sharing and integration of sensitive operational data among various independent entities. This challenge is particularly pronounced when d...
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Nonlinear differential equations are encountered as models of fluid flow, spiking neurons, and many other systems of interest in the real world. Common features of these systems are that their behaviors are difficult ...
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This paper analyses,simulates and verifies an experimental prototype of a four-phase interleaved DC-DC *** is based on a SEPIC-Cuk *** developed prototype has been used in single-input multiple-output(SIMO)*** combine...
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This paper analyses,simulates and verifies an experimental prototype of a four-phase interleaved DC-DC *** is based on a SEPIC-Cuk *** developed prototype has been used in single-input multiple-output(SIMO)*** combined converter allows obtaining dual output voltages of the same value,from a single input DC voltage and with only a power *** interleaved DC-DC converters achieve a better dynamic response and low ripple,maintaining their *** converter is connected in parallel,thereby managing their losses by distributing them between more components,which facilitates the thermal management of the multiphase converter and allows handling high power values in small sizes with respect to solutions for a single *** control strategies were applied:synchronous operation mode(SOM)and interleaved operation mode(IOM).The simulation results allow the comparison of both operational modes,verifying that the IOM presents advantages with respect to the ripple at the input and output *** experimental prototype was designed for a distributed power architecture and bipolar DC microgrid(MG).
The use of interactive tools, such as voice assistants and social robots, holds promise as coaching aids during public speaking rehearsals. To create a coach that is both effective and likable, it is important to unde...
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Preceding vehicle identification is crucial for establishing cooperative platooning. This paper presents the development of a prototype preceding vehicle identification system (PVIS) and its field evaluation for the a...
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Recent advancements in unmanned aerial vehicles (UAVs), has allowed their deployment for numerous applications like aerial photography, infrastructure inspection, search and rescue, and surveillance. Despite the poten...
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It has been suggested that autonomous vehicles can improve efficiency and safety of the transportation systems. While research in this area often focuses on autonomous vehicles which operate on roads, the deployment o...
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This paper analyses an electrification strategy for a depot for a public transport company, through an optimized model. The case study analyses both the transition of a depot able to host 10 buses towards e-buses and ...
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During the multistep process of metastasis,cancer cells encounter various mechanical forces which make them deform *** accurate in-silico models,capable of simulating the interactions between the mechanical forces and...
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During the multistep process of metastasis,cancer cells encounter various mechanical forces which make them deform *** accurate in-silico models,capable of simulating the interactions between the mechanical forces and highly deformable cancer cells,can pave the way for the development of novel diagnostic and predictive methods for metastatic ***-network models of cancer cell,empowered by our recently proposed identification approach,promises a versatile numerical tool for developing experimentally validated models that can simulate complex interactions at cellular *** this numerical tool,we presented spring-network models of breast cancer cells that can accurately replicate the experimental data of deformation behavior of the cells flowing in a fluidic domain and passing narrow constrictions comparable to ***,using high-speed imaging,we experimentally studied the deformability of breast cancer cell lines with varying metastatic potential(MCF-7(less invasive),SKBR-3(medium-high invasive),and MDA-MB-231(highly invasive)in terms of their entry time to a constricted microfluidic *** observed that MDA-MB-231,that has the highest metastatic potential,is the most deformable cell among the ***,by focusing on this cell line,experimental measurements were expanded to two more constricted microchannel *** experimental deformability data in three constricted microchannel sizes for various cell sizes,enabled accurate identification of the unknown parameters of the spring-network model of the breast cancer cell line(MDA-MB-231).Our results show that the identifed parameters depend on the cell size,suggesting the need for a systematic procedure for identifying the size-dependent parameters of spring-network models of *** the numerical results show,the presented cell models can simulate the entry process of the cell into constricted channels with very good agreements with the measured experimen
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