Challenges in Partially-Automated Roadway Feature Mapping Using Mobile Laser Scanning and Vehicle Trajectory Data

Connected vehicle and driver's assistance applications are greatly facilitated by Enhanced Digital Maps (EDMs) that represent roadway features (e.g., lane edges or centerlines, stop bars). Due to the large number of signalized intersections and miles of roadway, manual development of EDMs on a global basis is not feasible. Mobile Terrestrial Laser Scanning (MTLS) is the preferred data acquisition method to provide data for automated EDM development. Such systems provide an MTLS trajectory and a point cloud for the roadway environment. The challenge is to automatically convert these data into an EDM. This article presents a new processing and feature extraction method, experimental demonstration providing SAE-J2735 map messages for eleven example intersections, and a discussion of the results that points out remaining challenges and suggests directions for future research.Comment: 6 pages, 5 figure

UAV/UGV Autonomous Cooperation: UAV Assists UGV to Climb a Cliff by Attaching a Tether

This paper proposes a novel cooperative system for an Unmanned Aerial Vehicle (UAV) and an Unmanned Ground Vehicle (UGV) which utilizes the UAV not only as a flying sensor but also as a tether attachment device. Two robots are connected with a tether, allowing the UAV to anchor the tether to a structure located at the top of a steep terrain, impossible to reach for UGVs. Thus, enhancing the poor traversability of the UGV by not only providing a wider range of scanning and mapping from the air, but also by allowing the UGV to climb steep terrains with the winding of the tether. In addition, we present an autonomous framework for the collaborative navigation and tether attachment in an unknown environment. The UAV employs visual inertial navigation with 3D voxel mapping and obstacle avoidance planning. The UGV makes use of the voxel map and generates an elevation map to execute path planning based on a traversability analysis. Furthermore, we compared the pros and cons of possible methods for the tether anchoring from multiple points of view. To increase the probability of successful anchoring, we evaluated the anchoring strategy with an experiment. Finally, the feasibility and capability of our proposed system were demonstrated by an autonomous mission experiment in the field with an obstacle and a cliff.Comment: 7 pages, 8 figures, accepted to 2019 International Conference on Robotics & Automation. Video: https://youtu.be/UzTT8Ckjz1

Modeling Cooperative Navigation in Dense Human Crowds

For robots to be a part of our daily life, they need to be able to navigate among crowds not only safely but also in a socially compliant fashion. This is a challenging problem because humans tend to navigate by implicitly cooperating with one another to avoid collisions, while heading toward their respective destinations. Previous approaches have used hand-crafted functions based on proximity to model human-human and human-robot interactions. However, these approaches can only model simple interactions and fail to generalize for complex crowded settings. In this paper, we develop an approach that models the joint distribution over future trajectories of all interacting agents in the crowd, through a local interaction model that we train using real human trajectory data. The interaction model infers the velocity of each agent based on the spatial orientation of other agents in his vicinity. During prediction, our approach infers the goal of the agent from its past trajectory and uses the learned model to predict its future trajectory. We demonstrate the performance of our method against a state-of-the-art approach on a public dataset and show that our model outperforms when predicting future trajectories for longer horizons.Comment: Accepted at ICRA 201

Self-concatenated code design and its application in power-efficient cooperative communications

In this tutorial, we have focused on the design of binary self-concatenated coding schemes with the help of EXtrinsic Information Transfer (EXIT) charts and Union bound analysis. The design methodology of future iteratively decoded self-concatenated aided cooperative communication schemes is presented. In doing so, we will identify the most important milestones in the area of channel coding, concatenated coding schemes and cooperative communication systems till date and suggest future research directions

Strong and safe Nash equilibrium in some repeated 3-player games

We consider a 3-player game in the normal form, in which each player has two actions. We assume that the game is symmetric and repeated infinitely many times. At each stage players make their choices knowing only the average payoffs from previous stages of all the players. A strategy of a player in the repeated game is a function defined on the convex hull of the set of payoffs. Our aim is to construct a strong Nash equilibrium in the repeated game, i.e. a strategy profile being resistant to deviations by coalitions. Constructed equilibrium strategies are safe, i.e. the non-deviating player payoff is not smaller than the equilibrium payoff in the stage game, and deviating players' payoffs do not exceed the non-deviating player payoff more than a positive constant which can be arbitrary small and chosen by the non-deviating player. Our construction is inspired by Smale's good strategies described in \cite{smale}, where the repeated Prisoner's Dilemma was considered. In proofs we use arguments based on approachability and strong approachability type results.Comment: 19 page