Related papers: Safe Road-Crossing by Autonomous Wheelchairs: a Novel Dataset and its Experimental Evaluation

Safe Road-Crossing by Autonomous Wheelchairs: a Novel Dataset and its Experimental Evaluation

URL: http://arxiv.org/abs/2403.08984v1
Date: Wed, 13 Mar 2024 22:19:06 GMT
Title: Safe Road-Crossing by Autonomous Wheelchairs: a Novel Dataset and its Experimental Evaluation
Authors: Carlo Grigioni, Franca Corradini, Alessandro Antonucci, Jérôme Guzzi, Francesco Flammini,
Abstract summary: We introduce a multi-sensor fusion approach to support road-crossing decisions in a system composed by an autonomous wheelchair and a flying drone. As a proof-of-concept, we provide an experimental evaluation in a laboratory environment, showing the advantages of using multiple sensors. The work has been developed in the context of an European project named REXASI-PRO, which aims to develop trustworthy artificial intelligence for social navigation of people with reduced mobility.
Score: 42.90509901417468
License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
Abstract: Safe road-crossing by self-driving vehicles is a crucial problem to address in smart-cities. In this paper, we introduce a multi-sensor fusion approach to support road-crossing decisions in a system composed by an autonomous wheelchair and a flying drone featuring a robust sensory system made of diverse and redundant components. To that aim, we designed an analytical danger function based on explainable physical conditions evaluated by single sensors, including those using machine learning and artificial vision. As a proof-of-concept, we provide an experimental evaluation in a laboratory environment, showing the advantages of using multiple sensors, which can improve decision accuracy and effectively support safety assessment. We made the dataset available to the scientific community for further experimentation. The work has been developed in the context of an European project named REXASI-PRO, which aims to develop trustworthy artificial intelligence for social navigation of people with reduced mobility.

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