Abstract: A vehicle computing system may implement techniques to control a vehicle to avoid collisions between the vehicle and agents (e.g., dynamic objects) in an environment. The techniques may include generating a representation of a path of the vehicle through an environment as a polygon. The vehicle computing system may compare the two-dimensional path with a trajectory of an agent determined using sensor data to determine a collision zone between the vehicle and the agent. The vehicle computing system may determine a risk of collision based on predicted velocities and probable accelerations of the vehicle and the agent approaching and traveling through the collision zone. Based at least in part on the risk of collision, the vehicle computing system may cause the vehicle to perform an action.

Abstract: A system for forecasting leaks in a fluid-delivery pipeline network. The system identifies a subsystem in the pipeline network that comprises a plurality of topologically connected stations. The system accesses historical temporal sensor measurements of a plurality of variables of the stations that are directly connected and generates a temporal causal dependency model for a first control variable at the first station in the subsystem, based on the plurality of time series of sensor measurements of a second variable of the first station, and temporal delay characteristics of the plurality of time series of sensor measurements of the second variable at the stations directly connected to the first station. The system automatically calculates a normal operating value of the first control variable at the first station and the deviations between actual measured values and the normal operating value and determines a threshold deviation that indicates a leak event.

Abstract: A system for forecasting leaks in a fluid-delivery pipeline network. The system identifies a subsystem in the pipeline network that comprises a plurality of topologically connected stations. The system accesses historical temporal sensor measurements of a plurality of variables of the stations that are directly connected and generates a temporal causal dependency model for a first control variable at the first station in the subsystem, based on the plurality of time series of sensor measurements of a second variable of the first station, and temporal delay characteristics of the plurality of time series of sensor measurements of the second variable at the stations directly connected to the first station. The system automatically calculates a normal operating value of the first control variable at the first station and the deviations between actual measured values and the normal operating value and determines a threshold deviation that indicates a leak event.