Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Online monitoring for safe pedestrian-vehicle interactions   As autonomous systems begin to operate amongst humans, methods for safe
interaction must be investigated. We consider an example of a small autonomous
vehicle in a pedestrian zone that must safely maneuver around people in a
free-form fashion. We investigate two key questions: How can we effectively
integrate pedestrian intent estimation into our autonomous stack. Can we
develop an online monitoring framework to give formal guarantees on the safety
of such human-robot interactions. We present a pedestrian intent estimation
framework that can accurately predict future pedestrian trajectories given
multiple possible goal locations. We integrate this into a reachability-based
online monitoring scheme that formally assesses the safety of these
interactions with nearly real-time performance (approximately 0.3 seconds).
These techniques are integrated on a test vehicle with a complete in-house
autonomous stack, demonstrating effective and safe interaction in real-world
experiments.

22
The categories of this paper are: chao-dyn
23
The categories of this paper are: solv-int
12
The categories of this paper are: nucl-th
20
The categories of this paper are: acc-phys
4
The categories of this paper are: cond-mat
13
The categories of this paper are: quant-ph
27
The categories of this paper are: comp-gas
25
The categories of this paper are: patt-sol
24
The categories of this paper are: dg-ga
36
The categories of this paper are: cmp-lg
6
The categories of this paper are: astro-ph
35
The categories of this paper are: mtrl-th
2
The categories of this paper are: math
32
The categories of this paper are: atom-ph
10
The categories of this paper are: q-bio
28
The categories of this paper are: alg-geom