8 papers
N3P: Accelerated Automated Parking via a Learning-Based Naturalistic Three-Stage Scheme
Yifan Xue, Toktam Mohammadnejad, Faizan M Tariq +5
Autonomous parking requires efficient path planning that ensures kinematic feasibility and collision avoidance in constrained environments. Hybrid A* is widely used but computation…
Proactive Local-Minima-Free Robot Navigation: Blending Motion Prediction with Safe Control
Yifan Xue, Ze Zhang, Knut à kesson +1
This work addresses the challenge of safe and efficient mobile robot navigation in complex dynamic environments with concave moving obstacles. Reactive safe controllers like Contro…
RNBF: Real-Time RGB-D Based Neural Barrier Functions for Safe Robotic Navigation
Satyajeet Das, Yifan Xue, Haoming Li +1
Autonomous safe navigation in unstructured and novel environments poses significant challenges, especially when environment information can only be provided through low-cost vision…
No Minima, No Collisions: Combining Modulation and Control Barrier Function Strategies for Feasible Dynamic Collision Avoidance
Yifan Xue, Nadia Figueroa
Control Barrier Function Quadratic Programs (CBF-QPs) have become a central tool for real-time safety-critical control due to their applicability to general control-affine systems…
Occupancy-aware Trajectory Planning for Autonomous Valet Parking in Uncertain Dynamic Environments
Farhad Nawaz, Faizan M. Tariq, Sangjae Bae +5
Autonomous Valet Parking (AVP) requires planning under partial observability, where parking spot availability evolves as dynamic agents enter and exit spots. Existing approaches ei…
Gradient Field-Based Dynamic Window Approach for Collision Avoidance in Complex Environments
Ze Zhang, Yifan Xue, Nadia Figueroa +1
For safe and flexible navigation in multi-robot systems, this paper presents an enhanced and predictive sampling-based trajectory planning approach in complex environments, the Gra…