Long Horizon Risk-Averse Motion Planning: A Model-Predictive Approach

Developing safe automated vehicles that can be proactive, safe, and comfortable in mixed traffic requires improved planning methods that are risk-averse and that account for predictions of the motion of other road users. To consider these criteria, in this article, we propose a non-linear model-predictive trajectory generator scheme, which couples the longitudinal and lateral motion of the vehicle to steer the vehicle with minimal risk, while progressing towards the goal state. The proposed method takes into account the infrastructure, surrounding objects, and predictions of the objects' state through artificial potential-based risk fields included in the cost function of the model-predictive control (MPC) problem. This trajectory generator enables anticipatory maneuvers, i.e., mitigating risk far before any safety-critical intervention would be necessary. The method is proven in several case studies representing both highways- and urban situations. The results show the safe and efficient implementation of the MPC trajectory generator while proving its real-time applicability

Informed Sampling-Based Trajectory Planner for Automated Driving in Dynamic Urban Environments

The urban environment is amongst the most difficult domains for autonomous vehicles. The vehicle must be able to plan a safe route on challenging road layouts, in the presence of various dynamic traffic participants such as vehicles, cyclists and pedestrians and in various environmental conditions. The challenge remains to have motion planners that are computationally fast and that account for future movements of other road users proactively. This paper describes an computationally efficient sampling-based trajectory planner for safe and comfortable driving in urban environments. The planner improves the Stable-Sparse-RRT algorithm by adding initial exploration branches to the search tree based on road layout information and reiterating the previous solution. Furthermore, the trajectory planner accounts for the predicted motion of other traffic participants to allow for safe driving in urban traffic. Simulation studies show that the planner is capable of planning collision-free, comfortable trajectories in several urban traffic scenarios. Adding the domain-knowledge-based exploration branches increases the efficiency of exploration of highly interesting areas, thereby increasing the overall planning performance

A saturated map of common genetic variants associated with human height

Common single-nucleotide polymorphisms (SNPs) are predicted to collectively explain 40-50% of phenotypic variation in human height, but identifying the specific variants and associated regions requires huge sample sizes. Here, using data from a genome-wide association study of 5.4 million individuals of diverse ancestries, we show that 12,111 independent SNPs that are significantly associated with height account for nearly all of the common SNP-based heritability. These SNPs are clustered within 7,209 non-overlapping genomic segments with a mean size of around 90 kb, covering about 21% of the genome. The density of independent associations varies across the genome and the regions of increased density are enriched for biologically relevant genes. In out-of-sample estimation and prediction, the 12,111 SNPs (or all SNPs in the HapMap 3 panel) account for 40% (45%) of phenotypic variance in populations of European ancestry but only around 10-20% (14-24%) in populations of other ancestries. Effect sizes, associated regions and gene prioritization are similar across ancestries, indicating that reduced prediction accuracy is likely to be explained by linkage disequilibrium and differences in allele frequency within associated regions. Finally, we show that the relevant biological pathways are detectable with smaller sample sizes than are needed to implicate causal genes and variants. Overall, this study provides a comprehensive map of specific genomic regions that contain the vast majority of common height-associated variants. Although this map is saturated for populations of European ancestry, further research is needed to achieve equivalent saturation in other ancestries

Euclid. I. Overview of the Euclid mission

The current standard model of cosmology successfully describes a variety of measurements, but the nature of its main ingredients, dark matter and dark energy, remains unknown. Euclid is a medium-class mission in the Cosmic Vision 2015-2025 programme of the European Space Agency (ESA) that will provide high-resolution optical imaging, as well as near-infrared imaging and spectroscopy, over about 14,000 deg^2 of extragalactic sky. In addition to accurate weak lensing and clustering measurements that probe structure formation over half of the age of the Universe, its primary probes for cosmology, these exquisite data will enable a wide range of science. This paper provides a high-level overview of the mission, summarising the survey characteristics, the various data-processing steps, and data products. We also highlight the main science objectives and expected performance

Euclid. I. Overview of the Euclid mission

International audienceThe current standard model of cosmology successfully describes a variety of measurements, but the nature of its main ingredients, dark matter and dark energy, remains unknown. Euclid is a medium-class mission in the Cosmic Vision 2015-2025 programme of the European Space Agency (ESA) that will provide high-resolution optical imaging, as well as near-infrared imaging and spectroscopy, over about 14,000 deg^2 of extragalactic sky. In addition to accurate weak lensing and clustering measurements that probe structure formation over half of the age of the Universe, its primary probes for cosmology, these exquisite data will enable a wide range of science. This paper provides a high-level overview of the mission, summarising the survey characteristics, the various data-processing steps, and data products. We also highlight the main science objectives and expected performance