14th Workshop on
Planning, Perception and Navigation for Intelligent Vehicles

Recently, intelligent perception and navigation techniques have obtained wide attention areas of autonomous robots and systems. Autonomous robots and systems capable of conquering well and partially-structured environments are emerging. As we look to the future, robots that are capable of operating in genuinely unstructured and dynamic environments remain a significant challenge. In such challenging environments, each robot is expected to learn/adapt their surrounding environment via intelligent sensors (such as optical, vision or acoustic sensors) while performing goal-oriented navigation and completing the task with only onboard resources. On top of single robot autonomy, diverse capabilities of heterogeneous robots are brought together to achieve enhanced performance in task planning, cooperative teaming, planetary exploration. Heterogeneous robots and systems can be evident as physical difference between robots (UAV, UGV, USV, Autonomous Vehicles, etc.) or as behavioral difference when robots serve diverse roles in a cooperating team.

The workshop will feature prominent speakers, and contributions from the intelligent vehicles and mobile robotics community.
The workshop is happening in-person at ADNEC in Abu Dhabi, UAE. Additionally we welcome participants to listen and contribute virtually via zoom.

This workshop is intended to identify the challenges associated with the software development of autonomous vehicles and to foster discussion about how current research can address them. We invited papers for submission to the workshop related to the topics of ITS, autonomous vehicles, motion planning, perception and modeling. The following papers where accepted for the IROS 2024 Workshop and where presented in a poster and spotlight session.

• ODTFormer: Efficient Obstacle Detection and Tracking with Stereo Cameras Based on Transformer - Tianye Ding (Northeastern University)*; Hongyu Li (Brown University); Huaizu Jiang (Northeastern University)
• Real-time Localization and Mapping in Imprecise Architectural Plans - Muhammad Shaheer (University of Luxembourg)*; José Andrés Millán Romera (University of Luxembourg); Hriday Bavle (University of Luxembourg); Marco Giberna (University of Luxembourg); Jose Luis Sanchez-Lopez (University of Luxembourg); Javier Civera (Universidad de Zaragoza); Holger Voos (SnT - Interdisciplinary Centre for Security, Reliability and Trust)
• Towards Localizing Structural Elements: Merging Geometrical Detection with Semantic Verification in RGB-D Data - Ali Tourani (SnT, University of Luxembourg)*; Saad Ejaz (SnT, University of Luxembourg); Hriday Bavle (University of Luxembourg); Jose Luis Sanchez-Lopez (University of Luxembourg); Holger Voos (SnT - Interdisciplinary Centre for Security, Reliability and Trust)
• Quantitative Evaluation of SLAM Systems via Monte Carlo Simulation Framework - Alonso Llorente (German Aerospace Center (DLR))*; Iulian Filip (German Aerospace Center (DLR)); Daniel Medina (German Aerospace Center (DLR)); Ricardo Vázquez (Universidad de Málaga)
• Efficient Reinforcement Learning for Autonomous Car Racing with Imperfect Demonstrations - Heeseong Lee (Seoul National University)*; Sungpyo Sagong (Seoul National University); Minhyeong Lee (Seoul National University); Dongjun Lee (Seoul National University)
• A Study on Learning Social Robot Navigation with Multimodal Perception - Bhabaranjan Panigrahi (George Mason University); Amir Hossain Raj (George Mason University)*; Mohammad Nazeri (George Mason University); Xuesu Xiao (George Mason University)
• GNN-based Metric-Semantic Factor Graph Generation - Jose Andres Millan Romera (University of Luxembourg)*; Hriday Bavle (University of Luxembourg); Muhammad Shaheer (University of Luxembourg); Holger Voos (SnT - Interdisciplinary Centre for Security, Reliability and Trust); Jose Luis Sanchez-Lopez (University of Luxembourg)
• CON: Continual Object Navigation via Data-Free Inter-Agent Knowledge Transfer in Unseen and Unfamiliar Places - Kouki Terashima (University of Fukui); Daiki Iwata (University of Fukui); Kanji Tanaka (University of Fukui)*; Shoya Miyazaki (University of Fukui); Jonathan Tay Yu Liang (University of Fukui)
• Visual Simultaneous Localization and Mapping using Filtered Depth Maps based on a Foundation Model - Jimin Song (Jeonbuk National University); HyungGi Jo (Jeonbuk National University); Yongsik Jin (Electronics and Telecommunications Research Institute); Sang Jun Lee (Jeonbuk National University)*
• Are We Ready for Real-Time LiDAR Semantic Segmentation in Autonomous Driving? - Samir Abou Haidar (Mines Paris - PSL)*; Alexandre Chariot (CEA); Mehdi Darouich (CEA); Cyril JOLY (Mines PARIS - PSL Research University); Jean-Emmanuel Deschaud (Mines Paris - PSL)
• Mixed Integer-Based Speed Optimization for Autonomous Driving under Situational Variation - Takeru Goto (Honda R&D Co., Ltd.)*; Rintaro Imamura (Honda R&D Co., Ltd.); Shumon Koga (Honda R&D Co., Ltd.)
• $\pi$-MPPI: A Projection-based Model Predictive Path Integral Scheme for Smooth Optimal Control of Fixed-Wing Aerial Vehicles - Edvin Martin Andrejev (University of Tartu); Amith Manoharan (University of Tartu)*; Karl-Eerik Unt (Estonian Aviation Academy); Arun Singh (Tampere University of Technology, Hydraulics and Automation)