Search-based optimal motion planning for automated driving

This paper presents a framework for fast and robust motion planning designed to facilitate automated driving. The framework allows for real-time computation even for horizons of several hundred meters and thus enabling automated driving in urban conditions. This is achieved through several features. Firstly, a convenient geometrical...

Human-robot cooperative object manipulation with contact changes

This paper presents a system for cooperatively manipulating large objects between a human and a robot. This physical interaction system is designed to handle, transport, or manipulate large objects of different shapes in cooperation with a human. Unique points are the bi-manual physical cooperation, the sequential characteristic of the...

Automation in sensing and raw material characterization - A conceptual framework

The use of sensor technologies for material characterization is rapidly growing and innovative advancement is observed. However, the use of sensor combinations for a raw material characterization in mining is very limited and automation of the material identification process using a combined sensor signal is not defined. Potential sensor...

Joint multi-policy behavior estimation and receding-horizon trajectory planning for automated urban driving

When driving in urban environments, an autonomous vehicle must account for the interaction with other traffic participants. It must reason about their future behavior, how its actions affect their future behavior, and potentially<br/>consider multiple motion hypothesis. In this paper we introduce a method for joint behavior estimation and...

Vehicle rebalancing for Mobility-on-Demand systems with ride-sharing

Recent developments in Mobility-on-Demand (MoD) systems have demonstrated the potential of road vehicles as an efficient mode of urban transportation Newly developed algorithms can compute vehicle routes in real-time for batches of requests and allow for multiple requests to share vehicles. These algorithms have primarily focused on optimally...