arXiv subjects

José Manuel Gaspar Sánchez

Publications and source records attributed to José Manuel Gaspar Sánchez.

4 recordsLinked to original sources

arXiv2024

Transitional Grid Maps: Joint Modeling of Static and Dynamic Occupancy

Autonomous agents rely on sensor data to construct representations of their environments, essential for predicting future events and planning their actions. However, sensor measurements suffer from limited range, occlusions, and sensor noise. These challenges become more evident in highly dynamic environments. This work proposes a probabilistic framework to jointly infer which parts of an environment are statically and which parts are dynamically occupied. We formulate the problem as a Bayesian network and introduce minimal assumptions that significantly reduce the complexity of the problem. Based on those, we derive Transitional Grid Maps (TGMs), an efficient analytical solution. Using real data, we demonstrate how this approach produces better maps by keeping track of both static and dynamic elements and, as a side effect, can help improve existing SLAM algorithms.

cs.RO↗

arXiv2023

Overcoming the Fear of the Dark: Occlusion-Aware Model-Predictive Planning for Automated Vehicles Using Risk Fields

As vehicle automation advances, motion planning algorithms face escalating challenges in achieving safe and efficient navigation. Existing Advanced Driver Assistance Systems (ADAS) primarily focus on basic tasks, leaving unexpected scenarios for human intervention, which can be error-prone. Motion planning approaches for higher levels of automation in the state-of-the-art are primarily oriented toward the use of risk- or anti-collision constraints, using over-approximates of the shapes and sizes of other road users to prevent collisions. These methods however suffer from conservative behavior and the risk of infeasibility in high-risk initial conditions. In contrast, our work introduces a novel multi-objective trajectory generation approach. We propose an innovative method for constructing risk fields that accommodates diverse entity shapes and sizes, which allows us to also account for the presence of potentially occluded objects. This methodology is integrated into an occlusion-aware trajectory generator, enabling dynamic and safe maneuvering through intricate environments while anticipating (potentially hidden) road users and traveling along the infrastructure toward a specific goal. Through theoretical underpinnings and simulations, we validate the effectiveness of our approach. This paper bridges crucial gaps in motion planning for automated vehicles, offering a pathway toward safer and more adaptable autonomous navigation in complex urban contexts.

cs.RO↗

arXiv2021

Edge computing for cyber-physical systems: A systematic mapping study emphasizing trustworthiness

Edge computing is projected to have profound implications in the coming decades, proposed to provide solutions for applications such as augmented reality, predictive functionalities, and collaborative Cyber-Physical Systems (CPS). For such applications, edge computing addresses the new computational needs, as well as privacy, availability, and real-time constraints, by providing local high-performance computing capabilities to deal with the limitations and constraints of cloud and embedded systems. Our interests lie in the applications of edge computing as part of CPS, where several properties (or attributes) of trustworthiness, including safety, security, and predictability/availability are of particular concern, each facing challenges for the introduction of edge-based CPS. We present the results of a systematic mapping study, a kind of systematic literature survey, investigating the use of edge computing for CPS with a special emphasis on trustworthiness. The main contributions of this study are a detailed description of the current research efforts in edge-based CPS and the identification and discussion of trends and research gaps. The results show that the main body of research in edge-based CPS only to a very limited extent consider key attributes of system trustworthiness, despite many efforts referring to critical CPS and applications like intelligent transportation. More research and industrial efforts will be needed on aspects of trustworthiness of future edge-based CPS including their experimental evaluation. Such research needs to consider the multiple interrelated attributes of trustworthiness including safety, security, and predictability, and new methodologies and architectures to address them. It is further important to provide bridges and collaboration between edge computing and CPS disciplines.

cs.DC↗

arXiv2021

Finding Critical Scenarios for Automated Driving Systems: A Systematic Literature Review

Scenario-based approaches have been receiving a huge amount of attention in research and engineering of automated driving systems. Due to the complexity and uncertainty of the driving environment, and the complexity of the driving task itself, the number of possible driving scenarios that an ADS or ADAS may encounter is virtually infinite. Therefore it is essential to be able to reason about the identification of scenarios and in particular critical ones that may impose unacceptable risk if not considered. Critical scenarios are particularly important to support design, verification and validation efforts, and as a basis for a safety case. In this paper, we present the results of a systematic literature review in the context of autonomous driving. The main contributions are: (i) introducing a comprehensive taxonomy for critical scenario identification methods; (ii) giving an overview of the state-of-the-art research based on the taxonomy encompassing 86 papers between 2017 and 2020; and (iii) identifying open issues and directions for further research. The provided taxonomy comprises three main perspectives encompassing the problem definition (the why), the solution (the methods to derive scenarios), and the assessment of the established scenarios. In addition, we discuss open research issues considering the perspectives of coverage, practicability, and scenario space explosion.

cs.SE↗