This article introduces a novel model for low-quality pedestrian trajectory prediction, the social nonstationary transformers (NSTransformers), that merges the strengths of NSTransformers and spatiotemporal graph tran...
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The joint optimization of sensor poses and 3D structure is fundamental for state estimation in robotics and related fields. Current LiDAR systems often prioritize pose optimization, with structure refinement either om...
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Detecting surrounding situations and reacting accordingly to avoid collisions remains a challenging task for autonomous driving. This task requires predicting the trajectories of surrounding agents and assessing the p...
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Detecting surrounding situations and reacting accordingly to avoid collisions remains a challenging task for autonomous driving. This task requires predicting the trajectories of surrounding agents and assessing the potential risk of future situations, which can be difficult to achieve solely through onboard vehicle devices. Therefore, this paper proposes a cooperative architecture for trajectory prediction and risk assessment conducted on roadside devices (RSUs) to assist Connected and Autonomous Vehicles (CAVs). Firstly, we develop a segmentbased prediction model (SegNet) tailored to hub signalized intersections. Intersections are divided into multiple segments, and the Curvilinear coordinates are utilized to indicate the geometric road features. The model leverages individual interaction cues in the ego segment and group features in the merging segments, while also incorporating traffic signal information to generate multimodal prediction results. In terms of risk assessment, we utilize the prediction results to provide hierarchical assistance, such as risk values, risk maps, and reference trajectories. Offline experimental results demonstrate that our SegNet model achieves competitive and well-balanced performance compared to stateof-the-art methods on the CitySim Database, with more accurate and smooth prediction trajectories. Through real-time CARLA and SUMO co-simulation, the performance of assisted CAVs indicates that they can safely and effectively navigate with the support of the proposed architecture. IEEE
The paper presents project and its verification of a prototype integrated circuit containing an analog, programmable finite impulse response (FIR) filter, implemented in CMOS 350 nm technology. The structure of the fi...
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Recent advancements in robotics have transformed industries such as manufacturing,logistics,surgery,and planetary exploration.A key challenge is developing efficient motion planning algorithms that allow robots to nav...
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Recent advancements in robotics have transformed industries such as manufacturing,logistics,surgery,and planetary exploration.A key challenge is developing efficient motion planning algorithms that allow robots to navigate complex environments while avoiding collisions and optimizing metrics like path length,sweep area,execution time,and energy *** the available algorithms,sampling-based methods have gained the most traction in both research and industry due to their ability to handle complex environments,explore free space,and offer probabilistic completeness along with other formal *** their widespread application,significant challenges still *** advance future planning algorithms,it is essential to review the current state-of-the-art solutions and their *** this context,this work aims to shed light on these challenges and assess the development and applicability of sampling-based ***,we aim to provide an in-depth analysis of the design and evaluation of ten of the most popular planners across various *** findings highlight the strides made in sampling-based methods while underscoring persistent *** work offers an overview of the important ongoing research in robotic motion planning.
The integration of solar energy harvesting into small-cell networks is a promising solution for achieving energy-efficient and sustainable wireless communications. However, the inherent variability and intermittency o...
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This paper presents a programming system for a robot manipulator using a hand-held demonstration tool. In this system, a user holds the self-designed tool to demonstrate a desired motion path, and the robot arm replic...
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robotics and haptic systems have allowed new and diverse applications in the field of medicine, such as assisted surgery and teleoperation which have increasingly stringent requirements for accuracy, convergence, and ...
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ISBN:
(数字)9798350393965
ISBN:
(纸本)9798350393972
robotics and haptic systems have allowed new and diverse applications in the field of medicine, such as assisted surgery and teleoperation which have increasingly stringent requirements for accuracy, convergence, and low computational consumption. In this paper an adaptive PID control law (Proportional Integral Derivative controller, PID), of indirect architecture is presented for movement paths in a haptic system of open chain, where the identification of the plant is through a quaternionic wavelet neural network (Quaternion Wavelet Neural Network, QWNN) for tune the PID values, this allows the optimal movement into the regions of the workspace.
In swarm robotics, most of the control algorithms are inspired by the behaviors of animal swarms. The capability gap between robots and animals, however, hinders the reliability of these algorithms. Toward developing ...
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In this work, we present the modeling of the dynamics of a robot manipulator using the Newton-Euler algorithm in the conformal algebra framework. The modeling of the dynamics of robot manipulators is currently done us...
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ISBN:
(数字)9798350362343
ISBN:
(纸本)9798350362350
In this work, we present the modeling of the dynamics of a robot manipulator using the Newton-Euler algorithm in the conformal algebra framework. The modeling of the dynamics of robot manipulators is currently done using the Euler-Lagrange formulation which is a batch type of computation. In contrast, in this paper, we propose a recursive algorithm for the modeling of the dynamics of robot manipulators using the Newton-Euler algorithm in the conformal geometric algebra framework.
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