Intro
Preface
Organization
Contents
Improved Robust Neural Network for Sim2Real Gap in System Dynamics for End-to-End Autonomous Driving
1 Introduction
2 Simple Mathematical Model
2.1 System Model Without Controller
2.2 P-Controller for Vehicle
2.3 Offset to Steering Angle
3 Previous Results with PilotNetRLSTM
4 PilotNetCLSTM and PilotNetCF
4.1 Naming Convention
4.2 Discretization of Steering Angles
4.3 Neural Network Architecture
5 Experimental Setup
5.1 Dataset Creation Methods
5.2 Dataset Overview
5.3 Evaluation Methods

6 Experimental Results
6.1 Comparing Results for Steering Offset
6.2 Comparing Results for Normal Driving Test
6.3 Comparing Results for Accuracies on the Validation Dataset
7 Discussion and Conclusion
References
Optimal Robust Control with Applications for a Reconfigurable Robot
1 Introduction
2 Kinematics Development
3 Optimal Robust Control
3.1 Mixed Sensitivity H Control
3.2 H Control Design
4 Application of Mixed Sensitivity H Control (Simulation and Results)
4.1 Application of H Control (Simulation and Results)

4.2 Application of -Synthesis Control and DK Iterations (Simulation and Results)
4.3 Comparison of H and -Controllers
5 Conclusions
References
Improving 2D Scanning Radar and 3D Lidar Calibration
1 Introduction
2 Radar Basics
3 Related Works
3.1 Target-Based Methods
3.2 Target-Less Methods
3.3 Speckle Filtering of Radar Signals
3.4 Improving Resolution of Radar Signals
3.5 Contribution
4 Methodology
4.1 Assumptions
4.2 Synchronization
4.3 Motion Correction
4.4 Preprocessing
4.5 Matching
4.6 Optimization
5 Experiments

5.1 Test Data and Environment
5.2 Improved Radar Filtering
5.3 Plane Optimization
5.4 Validation
6 Results
6.1 Improved Radar Filtering
6.2 Plane Optimization
6.3 Validation
7 Conclusion
References
Mobile Robots for Teleoperated Radiation Protection Tasks in the Super Proton Synchrotron
1 Introduction
1.1 The Significance of Radiation Protection Measures at CERN
1.2 Conducting Radiation Surveys in the Super Proton Synchrotron (SPS)
1.3 Mobile Robotics for Inspection: Advantages and Challenges
2 State of the Art on Teleoperated Robotics for Inspection

3 A Mobile Robot for Radiation Protection Operations
3.1 Hardware
3.2 Software Development and Integration
4 Experimental Assessment
4.1 Testing Methodology
4.2 Robotic Radiation Survey Results
4.3 Dual Robot Setup
5 Final Thoughts and Future Directions
References
A Review of Classical and Learning Based Approaches in Task and Motion Planning
1 Introduction
2 Background
2.1 Task Planning
2.2 Motion Planning
2.3 Task and Motion Planning Objectives
3 Task and Motion Planning Methods
3.1 Classical Methods
3.2 Learning Based Methods