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10 results on '"Ćwian, Krzysztof"'

1. Learning from Experience for Rapid Generation of Local Car Maneuvers

Author

Kicki, Piotr, Gawron, Tomasz, Ćwian, Krzysztof, Ozay, Mete, and Skrzypczyński, Piotr

Subjects
Computer Science - Robotics, Computer Science - Artificial Intelligence, Computer Science - Machine Learning, I.2.9, I.2.6, J.2
Abstract

Being able to rapidly respond to the changing scenes and traffic situations by generating feasible local paths is of pivotal importance for car autonomy. We propose to train a deep neural network (DNN) to plan feasible and nearly-optimal paths for kinematically constrained vehicles in small constant time. Our DNN model is trained using a novel weakly supervised approach and a gradient-based policy search. On real and simulated scenes and a large set of local planning problems, we demonstrate that our approach outperforms the existing planners with respect to the number of successfully completed tasks. While the path generation time is about 40 ms, the generated paths are smooth and comparable to those obtained from conventional path planners.

Published
2020
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2. Localization of Agricultural Robots: Challenges, Solutions, and a New Approach

Author

Skrzypczyński, Piotr, Ćwian, Krzysztof, Kacprzyk, Janusz, Series Editor, Gomide, Fernando, Advisory Editor, Kaynak, Okyay, Advisory Editor, Liu, Derong, Advisory Editor, Pedrycz, Witold, Advisory Editor, Polycarpou, Marios M., Advisory Editor, Rudas, Imre J., Advisory Editor, Wang, Jun, Advisory Editor, Szewczyk, Roman, editor, Zieliński, Cezary, editor, Kaliczyńska, Małgorzata, editor, and Bučinskas, Vytautas, editor

Published
2023
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4. Planar Features for Accurate Laser-Based 3-D SLAM in Urban Environments

Author

Ćwian, Krzysztof, Nowicki, Michał R., Nowak, Tomasz, Skrzypczyński, Piotr, Kacprzyk, Janusz, Series Editor, Pal, Nikhil R., Advisory Editor, Bello Perez, Rafael, Advisory Editor, Corchado, Emilio S., Advisory Editor, Hagras, Hani, Advisory Editor, Kóczy, László T., Advisory Editor, Kreinovich, Vladik, Advisory Editor, Lin, Chin-Teng, Advisory Editor, Lu, Jie, Advisory Editor, Melin, Patricia, Advisory Editor, Nedjah, Nadia, Advisory Editor, Nguyen, Ngoc Thanh, Advisory Editor, Wang, Jun, Advisory Editor, Bartoszewicz, Andrzej, editor, and Kabziński, Jacek, editor

Published
2020
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5. Leveraging Object Recognition in Reliable Vehicle Localization from Monocular Images

Author

Nowak, Tomasz, Nowicki, Michał R., Ćwian, Krzysztof, Skrzypczyński, Piotr, Kacprzyk, Janusz, Series Editor, Pal, Nikhil R., Advisory Editor, Bello Perez, Rafael, Advisory Editor, Corchado, Emilio S., Advisory Editor, Hagras, Hani, Advisory Editor, Kóczy, László T., Advisory Editor, Kreinovich, Vladik, Advisory Editor, Lin, Chin-Teng, Advisory Editor, Lu, Jie, Advisory Editor, Melin, Patricia, Advisory Editor, Nedjah, Nadia, Advisory Editor, Nguyen, Ngoc Thanh, Advisory Editor, Wang, Jun, Advisory Editor, Szewczyk, Roman, editor, Zieliński, Cezary, editor, and Kaliczyńska, Małgorzata, editor

Published
2020
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7. On the Importance of Precise Positioning in Robotised Agriculture.

Author

Nijak, Mateusz, Skrzypczyński, Piotr, Ćwian, Krzysztof, Zawada, Michał, Szymczyk, Sebastian, and Wojciechowski, Jacek

Subjects
GLOBAL Positioning System, VISUAL odometry, PRECISION farming, ARTIFICIAL satellites in navigation, PLANT protection
Abstract

The precision of agro-technical operations is one of the main hallmarks of a modern approach to agriculture. However, ensuring the precise application of plant protection products or the performance of mechanical field operations entails significant costs for sophisticated positioning systems. This paper explores the integration of precision positioning based on the global navigation satellite system (GNSS) in agriculture, particularly in fieldwork operations, seeking solutions of moderate cost with sufficient precision. This study examines the impact of GNSSs on automation and robotisation in agriculture, with a focus on intelligent agricultural guidance. It also discusses commercial devices that enable the automatic guidance of self-propelled machinery and the benefits that they provide. This paper investigates GNSS-based precision localisation devices under real field conditions. A comparison of commercial and low-cost GNSS solutions, along with the integration of satellite navigation with advanced visual odometry for improved positioning accuracy, is presented. The research demonstrates that affordable solutions based on the common differential GNSS infrastructure can be applied for accurate localisation under real field conditions. It also underscores the potential of GNSS-based automation and robotisation in transforming agriculture into a more efficient and sustainable industry. [ABSTRACT FROM AUTHOR]

Published
2024
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8. GNSS-Based Driver Assistance for Charging Electric City Buses: Implementation and Lessons Learned from Field Testing.

Author

Esfandiyar, Iman, Ćwian, Krzysztof, Nowicki, Michał R., and Skrzypczyński, Piotr

Subjects
*URBAN transportation, *ELECTRIC charge, *ELECTRIC motor buses, *PUBLIC transit, *BUS stops, *ELECTRIC vehicle industry
Abstract

Modern public transportation in urban areas increasingly relies on high-capacity buses. At the same time, the share of electric vehicles is increasing to meet environmental standards. This introduces problems when charging these vehicles from chargers at bus stops, as untrained drivers often find it difficult to execute docking manoeuvres on the charger. A practical solution to this problem requires a suitable advanced driver-assistance system (ADAS), which is a system used to automatise and make safer some of the tasks involved in driving a vehicle. In the considered case, ADAS supports docking to the electric charging station, and thus, it must solve two issues: precise positioning of the bus relative to the charger and motion planning in a constrained space. This paper addresses these issues by employing GNSS-based positioning and optimisation-based planning, resulting in an affordable solution to the ADAS for the docking of electric buses while recharging. We focus on the practical side of the system, showing how the necessary features were attained at a limited hardware and installation cost, also demonstrating an extensive evaluation of the fielded ADAS for an operator of public transportation in the city of Poznań in Poland. [ABSTRACT FROM AUTHOR]

Published
2023
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