Self-driving cars: A survey Badue, Claudine; Guidolini, Rânik; Carneiro, Raphael Vivacqua ...
Expert systems with applications,
03/2021, Volume:
165
Journal Article
Peer reviewed
We survey research on self-driving cars published in the literature focusing on autonomous cars developed since the DARPA challenges, which are equipped with an autonomy system that can be ...categorized as SAE level 3 or higher. The architecture of the autonomy system of self-driving cars is typically organized into the perception system and the decision-making system. The perception system is generally divided into many subsystems responsible for tasks such as self-driving-car localization, static obstacles mapping, moving obstacles detection and tracking, road mapping, traffic signalization detection and recognition, among others. The decision-making system is commonly partitioned as well into many subsystems responsible for tasks such as route planning, path planning, behavior selection, motion planning, and control. In this survey, we present the typical architecture of the autonomy system of self-driving cars. We also review research on relevant methods for perception and decision making. Furthermore, we present a detailed description of the architecture of the autonomy system of the self-driving car developed at the Universidade Federal do Espírito Santo (UFES), named Intelligent Autonomous Robotics Automobile (IARA). Finally, we list prominent self-driving car research platforms developed by academia and technology companies, and reported in the media.
•Recently developments of autonomous driving from academic and industry point of view.•Breakdown of the main aspects comprising autonomous driving and their evolution.•Autonomous driving architecture review and proposal.
This paper presents a novel approach to real-time obstacle avoidance based on Dynamical Systems (DS) that ensures impenetrability of multiple convex shaped objects. The proposed method can be applied ...to perform obstacle avoidance in Cartesian and Joint spaces and using both autonomous and non-autonomous DS-based controllers. Obstacle avoidance proceeds by modulating the original dynamics of the controller. The modulation is parameterizable and allows to determine a safety margin and to increase the robot’s reactiveness in the face of uncertainty in the localization of the obstacle. The method is validated in simulation on different types of DS including locally and globally asymptotically stable DS, autonomous and non-autonomous DS, limit cycles, and unstable DS. Further, we verify it in several robot experiments on the 7 degrees of freedom Barrett WAM arm.
Obstacle detection plays an important role in unmanned surface vehicles (USVs). The USVs operate in a highly diverse environments in which an obstacle may be a floating piece of wood, a scuba diver, ...a pier, or a part of a shoreline, which presents a significant challenge to continuous detection from images taken on board. This paper addresses the problem of online detection by constrained, unsupervised segmentation. To this end, a new graphical model is proposed that affords a fast and continuous obstacle image-map estimation from a single video stream captured on board a USV. The model accounts for the semantic structure of marine environment as observed from USV by imposing weak structural constraints. A Markov random field framework is adopted and a highly efficient algorithm for simultaneous optimization of model parameters and segmentation mask estimation is derived. Our approach does not require computationally intensive extraction of texture features and comfortably runs in real time. The algorithm is tested on a new, challenging, dataset for segmentation, and obstacle detection in marine environments, which is the largest annotated dataset of its kind. Results on this dataset show that our model outperforms the related approaches, while requiring a fraction of computational effort.
The World Health Organization (WHO) reported that there are 285 million visuallyimpaired people worldwide. Among these individuals, there are 39 million who are totally blind. There have been several ...systems designed to support visually-impaired people and to improve the quality of their lives. Unfortunately, most of these systems are limited in their capabilities. In this paper, we present a comparative survey of the wearable and portable assistive devices for visuallyimpaired people in order to show the progress in assistive technology for this group of people. Thus, the contribution of this literature survey is to discuss in detail the most significant devices that are presented in the literature to assist this population and highlight the improvements, advantages, disadvantages, and accuracy. Our aim is to address and present most of the issues of these systems to pave the way for other researchers to design devices that ensure safety and independent mobility to visually-impaired people.
In this original and controversial book, historian and philosopher Reviel Netz explores the development of a controlling and pain-inducing technology—barbed wire. Surveying its development from ...1874 to 1954, Netz describes its use to control cattle during the colonization of the American West and to control people in Nazi concentration camps and the Russian Gulag. Physical control over space was no longer symbolic after 1874.
This is a history told from the perspective of its victims. With vivid examples of the interconnectedness of humans, animals, and the environment, this dramatic account of barbed wire presents modern history through the lens of motion being prevented. Drawing together the history of humans and animals, Netz delivers a compelling new perspective on the issues of colonialism, capitalism, warfare, globalization, violence, and suffering. Theoretically sophisticated but written with a broad readership in mind, Barbed Wire calls for nothing less than a reconsideration of modernity.
Ship collision avoidance is a complex process that is influenced by numerous factors. In this study, we propose a novel method called the Optimal Collision Avoidance Point (OCAP) for unmanned surface ...vehicles (USVs) to determine when to take appropriate actions to avoid collisions. The approach combines a model that accounts for the two degrees of freedom in USV dynamics with a velocity obstacle method for obstacle detection and avoidance. The method calculates the change in the USV's navigation state based on the critical condition of collision avoidance. First, the coordinates of the optimal collision avoidance point in the current ship encounter state are calculated based on the relative velocities and kinematic parameters of the USV and obstacles. Then, the increments of the vessel's linear velocity and heading angle that can reach the optimal collision avoidance point are set as a constraint for dynamic window sampling. Finally, the algorithm evaluates the probabilities of collision hazards for trajectories that satisfy the critical condition and uses the resulting collision avoidance probability value as a criterion for course assessment. The resulting collision avoidance algorithm is optimized for USV maneuverability and is capable of handling multiple moving obstacles in real-time. Experimental results show that the OCAP algorithm has higher and more robust path-finding efficiency than the other two algorithms when the dynamic obstacle density is higher.
Recently, India is at risk due to the exponential rising of COVID-19 infection, which generated a second wave. This infection rise may affect the vaccination program in India, and it can also affect ...vaccine production. In this manuscript, we have discussed the psychosocial and political factors that have driven the current wave of India. We have also tried to depict the psychosocial and political obstacles that are impairing the vaccination program.
In this paper, we present a multi-modal dataset for obstacle detection in agriculture. The dataset comprises approximately 2 h of raw sensor data from a tractor-mounted sensor system in a grass ...mowing scenario in Denmark, October 2016. Sensing modalities include stereo camera, thermal camera, web camera, 360 ∘ camera, LiDAR and radar, while precise localization is available from fused IMU and GNSS. Both static and moving obstacles are present, including humans, mannequin dolls, rocks, barrels, buildings, vehicles and vegetation. All obstacles have ground truth object labels and geographic coordinates.
This paper tackles the distributed leader–follower cooperative control problem for networked heterogeneous unmanned aerial vehicle–unmanned ground vehicle (UAV-UGV) systems in unknown environments ...requiring formation keeping, obstacle avoidance, inter-robot collision avoidance, and reliable robot communications. To adopt various formations, we design a novel negative imaginary (NI) switching formation protocol with a directed dynamic topology. To prevent an inter-mobile robot collision, a new method to formulate the virtual propulsive force between robots is employed. To avoid unexpected obstacles, a new obstacle avoidance technique that allows the UGVs' formation to change its shape and the UGVs' roles is developed. To determine each UGV robot's order in obstacle avoidance formation, a quadrotor UAV, controlled by a strictly negative imaginary controller involving good wind resistance characteristics, tracks the center of formation shape to guarantee the maintaining visibility for multi-robot systems on the ground. The proposed control system's efficacy is investigated through a rigorously comparative study with other control techniques, namely, the performance of artificial potential field and an NI obstacle avoidance strategy using the switching formation control method without switching topology. Finally, we also conduct a stability analysis of the closed-loop control system using the NI-systems theory.
L’archéologie et les fouilles en contexte difficile sont l’objet de ce 16e volume d’Archéo.doct, qui résulte des échanges tenus lors de la 16e journée doctorale de l’ED 112 de l’université Paris 1 ...Panthéon-Sorbonne en 2021. Les vingt articles qui composent ce volume traitent de la fouille archéologique (préventive et programmée) face aux obstacles naturels, anthropiques, culturels et administratifs rencontrés par les archéologues ; ils viennent illustrer et enrichir les discussions entamées lors de cette journée d’étude, en laissant à chaque auteur l’espace de présenter librement ses problématiques et adaptations face à des difficultés assez peu évoquées lors des rencontres entre professionnels de l’archéologie et du patrimoine, et pourtant omniprésentes dans la pratique archéologique. L’enjeu principal de cette publication repose ainsi sur l’expression d’un implicite : tous les archéologues font face à des difficultés, qu’ils tendent à dépasser par l’adaptation et la production de solutions techniques, humaines, scientifiques. Ce volume présente, au sein de plusieurs sections thématiques choisies, différents points de vue propres à plusieurs pratiquants de l’archéologie, des Antilles au bassin de l’Indus, des vallées humides de l’Escaut aux déchets industriels du Val-de-Marne, en passant bien sûr par les fouilles en contexte inhospitalier, en temps de guerre, d’urbanisme intensif, ou de faible intérêt politique.
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