Abstract: A method performed by a computing device of presenting an application menu on a touchscreen includes (a) receiving a signal from the touchscreen indicating that a user has touched an MAE displayed on a screen of the application, (b) in response to receiving, displaying the menu on the touchscreen, (c) receiving a signal from the touchscreen indicating that the user is sliding a cursor across the touchscreen in a first direction and, in response, moving a display position of a slider element of the menu correspondingly on the touchscreen, (d) receiving a signal from the touchscreen indicating that the user has slid the cursor in a second direction substantially orthogonal to the first direction past a selection threshold and, in response, selecting a menu item corresponding to a current location of the cursor, and (e) in response to selecting the menu item, performing an action corresponding to the menu item.

Abstract: A method for collision avoidance includes receiving a maneuver command, obtaining observations from one or more sensors, generating one or more constraints based on the observations, combining the maneuver command and the one or more constraints to generate a constrained maneuver command that deviates from the maneuver command for collision avoidance, sending the constrained maneuver command to a controller. The method can include modifying motion of a vehicle based on the constrained maneuver command to maneuver with collision avoidance.

Abstract: A method performed by a computing device of presenting an application menu on a touchscreen includes (a) receiving a signal from the touchscreen indicating that a user has touched an MAE displayed on a screen of the application, (b) in response to receiving, displaying the menu on the touchscreen, (c) receiving a signal from the touchscreen indicating that the user is sliding a cursor across the touchscreen in a first direction and, in response, moving a display position of a slider element of the menu correspondingly on the touchscreen, (d) receiving a signal from the touchscreen indicating that the user has slid the cursor in a second direction substantially orthogonal to the first direction past a selection threshold and, in response, selecting a menu item corresponding to a current location of the cursor, and (e) in response to selecting the menu item, performing an action corresponding to the menu item.