You are here: University of Sydney / Engineering & IT / About us / Our people / Dr Stewart Worrall 

Dr Stewart Worrall

Research Fellow
Australian Centre for Field Robotics

J04 - Rose Street Building
The University of Sydney

Telephone +61 2 9351 4514
Fax +61 2 9351 7474

Website Australian Centre for Field Robotics

Current research students

Project title Research student
Semantic Segmentation for Intelligent Vehicles Wei ZHOU
Cooperative Situational Awareness in Intelligent Transport Systems Alex ZYNER
Back to Top

Selected publications

Download citations: PDF RTF Endnote

Journals

  • Bender, A., Ward, J., Worrall, S., Moreyra, M., Konrad, S., Masson, F., Nebot, E. (2016). A Flexible System Architecture for Acquisition and Storage of Naturalistic Driving Data. IEEE Transactions on Intelligent Transportation Systems, 17(6), 1748-1761. [More Information]
  • Bender, A., Agamennoni, G., Ward, J., Worrall, S., Nebot, E. (2015). An Unsupervised Approach for Inferring Driver Behavior From Naturalistic Driving Data. IEEE Transactions on Intelligent Transportation Systems, 16(6), 3325-3336. [More Information]
  • Shan, M., Worrall, S., Nebot, E. (2015). Delayed-state nonparametric filtering in cooperative tracking. IEEE Transactions on Robotics, 31(4), 962-977. [More Information]
  • Ward, J., Agamennoni, G., Worrall, S., Bender, A., Nebot, E. (2015). Extending Time to Collision for probabilistic reasoning in general traffic scenarios. Transportation Research Part C, 51, 66-82. [More Information]
  • Worrall, S., Agamennoni, G., Ward, J., Nebot, E. (2014). Fault Detection for Vehicular Ad Hoc Wireless Networks. IEEE Intelligent Transportation Systems Magazine, 6(2), 34-44. [More Information]
  • Ward, J., Worrall, S., Agamennoni, G., Nebot, E. (2014). The Warrigal dataset: Multi-vehicle trajectories and V2V communications. IEEE Intelligent Transportation Systems Magazine, 6(3), 109-117. [More Information]
  • Shan, M., Worrall, S., Masson, F., Nebot, E. (2014). Using delayed observations for long-term vehicle tracking in large environments. IEEE Transactions on Intelligent Transportation Systems, 15(3), 967-981. [More Information]
  • Shan, M., Worrall, S., Nebot, E. (2013). Probabilistic Long-Term Vehicle Motion Prediction and Tracking in Large Environments. IEEE Transactions on Intelligent Transportation Systems, 14(2), 539-552. [More Information]
  • Worrall, S., Agamennoni, G., Nieto, J., Nebot, E. (2012). A context based approach to vehicle behavior prediction. IEEE Transactions on Intelligent Transportation Systems, 4(3), 32-44. [More Information]
  • Worrall, S., Orchansky, D., Masson, F., Nieto, J., Nebot, E. (2010). Determining High Safety Risk Scenarios by Applying Context Information. Journal of Physical Agents, 4(2), 27-34. [More Information]
  • Nebot, E., Guivant, J., Worrall, S. (2006). Haul Truck Alignment Monitoring and Operator Warning System. Journal of Field Robotics, 23(2), 141-161. [More Information]

Conferences

  • Zyner, A., Worrall, S., Ward, J., Nebot, E. (2017). Long Short Term Memory for Driver Intent Prediction. 2017 IEEE Intelligent Vehicles Symposium, Piscataway: (IEEE) Institute of Electrical and Electronics Engineers.
  • Worrall, S., Ward, J., Bender, A., Nebot, E. (2015). GPS/GNSS consistency in a multi-path environment and during signal outages. 2015 IEEE 18th International Conference on Intelligent Transportation Systems, Piscataway, NJ: IEEE. [More Information]
  • Bender, A., Ward, J., Worrall, S., Nebot, E. (2015). Predicting driver intent from models of naturalistic driving. 2015 IEEE 18th International Conference on Intelligent Transportation Systems, Piscataway, NJ: IEEE. [More Information]
  • Agamennoni, G., Worrall, S., Ward, J., Nebot, E. (2014). Automated extraction of driver Behaviour primitives using Bayesian agglomerative sequence segmentation. The 17th International IEEE Conference on Intelligent Transportation Systems, Piscataway: IEEE.
  • Agamennoni, G., Ward, J., Worrall, S., Nebot, E. (2014). Bayesian Model-based Sequence Segmentation for Inferring Primitives in Driving-behavioral Data. 17th International Conference on Information Fusion (Fusion 2014), Piscataway: IEEE.
  • Worrall, S., Ward, J., Agamennoni, G., Orchansky, D., Nebot, E. (2014). Estimating Time To Interaction For Vehicles in ITS Applications. The 17th International IEEE Conference on Intelligent Transportation Systems, Piscataway: IEEE. [More Information]
  • Shan, M., Worrall, S., Nebot, E. (2014). Nonparametric cooperative tracking in mobile ad-hoc networks. 2014 IEEE International Conference on Robotics and Automation (ICRA), Piscataway: IEEE.
  • Ward, J., Agamennoni, G., Worrall, S., Nebot, E. (2014). Vehicle collision probability calculation for general traffic scenarios under uncertainty. 25th IEEE Intelligent Vehicles Symposium, Piscataway, NJ: IEEE. [More Information]
  • Agamennoni, G., Ward, J., Worrall, S., Nebot, E. (2013). Anomaly Detection in Driving Behaviour by Road Profiling. 2013 IEEE Intelligent Vehicles Symposium Workshop, Gold Coast, Queensland, Australia: IEEE. [More Information]
  • Ward, J., Worrall, S., Agamennoni, G., Nebot, E. (2013). Comprehensive data collection and context based metric evaluation for safety monitoring. 16th International IEEE Annual Conference on Intelligent Transportation Systems (ITSC 2013), The Hague: (IEEE) Institute of Electrical and Electronics Engineers. [More Information]
  • Worrall, S., Agamennoni, G., Ward, J., Nebot, E. (2013). Fault detection for vehicular ad-hoc wireless networks. 2013 IEEE Intelligent Vehicles Symposium (IV 2013), Gold Coast, Australia: (IEEE) Institute of Electrical and Electronics Engineers. [More Information]
  • Agamennoni, G., Worrall, S., Ward, J., Nebot, E. (2013). Robust non-linear smoothing for vehicle state estimation. 2013 IEEE Intelligent Vehicles Symposium (IV 2013), Gold Coast, Australia: (IEEE) Institute of Electrical and Electronics Engineers. [More Information]
  • Clarke, B., Worrall, S., Brooker, G., Nebot, E. (2013). Towards mapping of dynamic environments with FMCW radar. 2013 IEEE Intelligent Vehicles Symposium Workshop, Gold Coast, Queensland, Australia: IEEE. [More Information]
  • Ward, J., Worrall, S., Agamennoni, G., Nebot, E. (2013). Vehicle Operation Safety Monitoring Using Context Based Metrics: A Case Study. 2013 IEEE Intelligent Vehicles Symposium Workshop, Gold Coast, Queensland, Australia: IEEE. [More Information]
  • Clarke, B., Worrall, S., Brooker, G., Martinez, J., Nebot, E. (2012). Improving Situational Awareness with Radar Information. 2012 IEEE Intelligent Vehicles Symposium, IV 2012, Piscataway, NJ, USA: (IEEE) Institute of Electrical and Electronics Engineers. [More Information]
  • Clarke, B., Worrall, S., Brooker, G., Nebot, E. (2012). Sensor modelling for radar-based occupancy mapping. 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, Piscataway, NJ: (IEEE) Institute of Electrical and Electronics Engineers. [More Information]
  • Shan, M., Worrall, S., Nebot, E. (2011). Long term vehicle motion prediction and tracking in large environments. 14th International IEEE Annual Conference on Intelligent Transportation Systems (ITSC 2011), Washington, DC, USA: OmniPress. [More Information]
  • Orchansky, D., Worrall, S., Maclean, A., Nebot, E. (2010). Designing a User Interface for Improving the Awareness of Mining Vehicle Operators. 13th International IEEE Conference on Intelligent Transportation Systems, Madeira Island, Portugal: (IEEE) Institute of Electrical and Electronics Engineers. [More Information]
  • Arelovich, A., Masson, F., Agamennoni, O., Worrall, S., Nebot, E. (2010). Heuristic rule for truck dispatching in open-pit mines with local Information-based decisions. 13th International IEEE Conference on Intelligent Transportation Systems, Madeira Island, Portugal: (IEEE) Institute of Electrical and Electronics Engineers. [More Information]
  • Worrall, S., Orchansky, D., Masson, F., Nebot, E. (2010). Improving vehicle safety using context based detection of risk. 13th International IEEE Conference on Intelligent Transportation Systems, Madeira Island, Portugal: (IEEE) Institute of Electrical and Electronics Engineers. [More Information]
  • Worrall, S., Nebot, E. (2008). A Probabilistic Method for Detecting Impending Vehicle Interactions. 2008 IEEE International Conference on Robotics and Automation ICRA 2008, Pasadena: (IEEE) Institute of Electrical and Electronics Engineers. [More Information]
  • Orchansky, D., Worrall, S., Nebot, E. (2008). An effective way of displaying situation awareness information in mining vehicles. 2008 Fifth Annual Australian Mining Technology Conference Smart Technologies for Sustaining the Minerals Boom, Victoria, Australia: The Australasian Institute of Mining and Metallurgy.
  • Worrall, S., Nebot, E. (2007). A Comprehensive Approach to Improving Vehicle Safety in Mining. 2007 Australian Mining Technology Conference 'Smart Technologies for Overcoming the Skills Shortage', Carlton, Victoria, Australia: The Australasian Institute of Mining and Metallurgy.
  • Worrall, S., Nebot, E. (2007). Automated Process for Generating Digitised Maps through GPS Data Compression. Australasian Conference on Robotics and Automation (ACRA), Brisbane, Australia: Australian Robotics and Automation Association (ARAA).
  • Worrall, S., Nebot, E. (2007). Using Non-Parametric Filters and Sparse Observations to Localise a Fleet of Mining Vehicles. 2007 IEEE International Conference on Robotics and Automation ICRA 2007, United States: (IEEE) Institute of Electrical and Electronics Engineers.
  • Worrall, S., Nebot, E. (2006). Discrete Fleet Management System. 2006 Australian Mining Technology Conference, Carlton, Vic, Australia: The Australasian Institute of Mining and Metallurgy.
  • Worrall, S., Nebot, E. (2006). Truck Localisation in a Mine Using Sparse Observations. ACRA 2006 - Australasian Conference on Robotics and Automation, New Zealand: Australian Robotics and Automation Association (ARAA).
  • Kloos, G., Guivant, J., Worrall, S., Maclean, A., Nebot, E. (2004). Wireless Network For Mining Applications. 2004 Australasian Conference on Robotics and Automation (ACRA), Australia: Australian Robotics and Automation Association (ARAA). [More Information]

2017

  • Zyner, A., Worrall, S., Ward, J., Nebot, E. (2017). Long Short Term Memory for Driver Intent Prediction. 2017 IEEE Intelligent Vehicles Symposium, Piscataway: (IEEE) Institute of Electrical and Electronics Engineers.

2016

  • Bender, A., Ward, J., Worrall, S., Moreyra, M., Konrad, S., Masson, F., Nebot, E. (2016). A Flexible System Architecture for Acquisition and Storage of Naturalistic Driving Data. IEEE Transactions on Intelligent Transportation Systems, 17(6), 1748-1761. [More Information]

2015

  • Bender, A., Agamennoni, G., Ward, J., Worrall, S., Nebot, E. (2015). An Unsupervised Approach for Inferring Driver Behavior From Naturalistic Driving Data. IEEE Transactions on Intelligent Transportation Systems, 16(6), 3325-3336. [More Information]
  • Shan, M., Worrall, S., Nebot, E. (2015). Delayed-state nonparametric filtering in cooperative tracking. IEEE Transactions on Robotics, 31(4), 962-977. [More Information]
  • Ward, J., Agamennoni, G., Worrall, S., Bender, A., Nebot, E. (2015). Extending Time to Collision for probabilistic reasoning in general traffic scenarios. Transportation Research Part C, 51, 66-82. [More Information]
  • Worrall, S., Ward, J., Bender, A., Nebot, E. (2015). GPS/GNSS consistency in a multi-path environment and during signal outages. 2015 IEEE 18th International Conference on Intelligent Transportation Systems, Piscataway, NJ: IEEE. [More Information]
  • Bender, A., Ward, J., Worrall, S., Nebot, E. (2015). Predicting driver intent from models of naturalistic driving. 2015 IEEE 18th International Conference on Intelligent Transportation Systems, Piscataway, NJ: IEEE. [More Information]

2014

  • Agamennoni, G., Worrall, S., Ward, J., Nebot, E. (2014). Automated extraction of driver Behaviour primitives using Bayesian agglomerative sequence segmentation. The 17th International IEEE Conference on Intelligent Transportation Systems, Piscataway: IEEE.
  • Agamennoni, G., Ward, J., Worrall, S., Nebot, E. (2014). Bayesian Model-based Sequence Segmentation for Inferring Primitives in Driving-behavioral Data. 17th International Conference on Information Fusion (Fusion 2014), Piscataway: IEEE.
  • Worrall, S., Ward, J., Agamennoni, G., Orchansky, D., Nebot, E. (2014). Estimating Time To Interaction For Vehicles in ITS Applications. The 17th International IEEE Conference on Intelligent Transportation Systems, Piscataway: IEEE. [More Information]
  • Worrall, S., Agamennoni, G., Ward, J., Nebot, E. (2014). Fault Detection for Vehicular Ad Hoc Wireless Networks. IEEE Intelligent Transportation Systems Magazine, 6(2), 34-44. [More Information]
  • Shan, M., Worrall, S., Nebot, E. (2014). Nonparametric cooperative tracking in mobile ad-hoc networks. 2014 IEEE International Conference on Robotics and Automation (ICRA), Piscataway: IEEE.
  • Ward, J., Worrall, S., Agamennoni, G., Nebot, E. (2014). The Warrigal dataset: Multi-vehicle trajectories and V2V communications. IEEE Intelligent Transportation Systems Magazine, 6(3), 109-117. [More Information]
  • Shan, M., Worrall, S., Masson, F., Nebot, E. (2014). Using delayed observations for long-term vehicle tracking in large environments. IEEE Transactions on Intelligent Transportation Systems, 15(3), 967-981. [More Information]
  • Ward, J., Agamennoni, G., Worrall, S., Nebot, E. (2014). Vehicle collision probability calculation for general traffic scenarios under uncertainty. 25th IEEE Intelligent Vehicles Symposium, Piscataway, NJ: IEEE. [More Information]

2013

  • Agamennoni, G., Ward, J., Worrall, S., Nebot, E. (2013). Anomaly Detection in Driving Behaviour by Road Profiling. 2013 IEEE Intelligent Vehicles Symposium Workshop, Gold Coast, Queensland, Australia: IEEE. [More Information]
  • Ward, J., Worrall, S., Agamennoni, G., Nebot, E. (2013). Comprehensive data collection and context based metric evaluation for safety monitoring. 16th International IEEE Annual Conference on Intelligent Transportation Systems (ITSC 2013), The Hague: (IEEE) Institute of Electrical and Electronics Engineers. [More Information]
  • Worrall, S., Agamennoni, G., Ward, J., Nebot, E. (2013). Fault detection for vehicular ad-hoc wireless networks. 2013 IEEE Intelligent Vehicles Symposium (IV 2013), Gold Coast, Australia: (IEEE) Institute of Electrical and Electronics Engineers. [More Information]
  • Shan, M., Worrall, S., Nebot, E. (2013). Probabilistic Long-Term Vehicle Motion Prediction and Tracking in Large Environments. IEEE Transactions on Intelligent Transportation Systems, 14(2), 539-552. [More Information]
  • Agamennoni, G., Worrall, S., Ward, J., Nebot, E. (2013). Robust non-linear smoothing for vehicle state estimation. 2013 IEEE Intelligent Vehicles Symposium (IV 2013), Gold Coast, Australia: (IEEE) Institute of Electrical and Electronics Engineers. [More Information]
  • Clarke, B., Worrall, S., Brooker, G., Nebot, E. (2013). Towards mapping of dynamic environments with FMCW radar. 2013 IEEE Intelligent Vehicles Symposium Workshop, Gold Coast, Queensland, Australia: IEEE. [More Information]
  • Ward, J., Worrall, S., Agamennoni, G., Nebot, E. (2013). Vehicle Operation Safety Monitoring Using Context Based Metrics: A Case Study. 2013 IEEE Intelligent Vehicles Symposium Workshop, Gold Coast, Queensland, Australia: IEEE. [More Information]

2012

  • Worrall, S., Agamennoni, G., Nieto, J., Nebot, E. (2012). A context based approach to vehicle behavior prediction. IEEE Transactions on Intelligent Transportation Systems, 4(3), 32-44. [More Information]
  • Clarke, B., Worrall, S., Brooker, G., Martinez, J., Nebot, E. (2012). Improving Situational Awareness with Radar Information. 2012 IEEE Intelligent Vehicles Symposium, IV 2012, Piscataway, NJ, USA: (IEEE) Institute of Electrical and Electronics Engineers. [More Information]
  • Clarke, B., Worrall, S., Brooker, G., Nebot, E. (2012). Sensor modelling for radar-based occupancy mapping. 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, Piscataway, NJ: (IEEE) Institute of Electrical and Electronics Engineers. [More Information]

2011

  • Shan, M., Worrall, S., Nebot, E. (2011). Long term vehicle motion prediction and tracking in large environments. 14th International IEEE Annual Conference on Intelligent Transportation Systems (ITSC 2011), Washington, DC, USA: OmniPress. [More Information]

2010

  • Orchansky, D., Worrall, S., Maclean, A., Nebot, E. (2010). Designing a User Interface for Improving the Awareness of Mining Vehicle Operators. 13th International IEEE Conference on Intelligent Transportation Systems, Madeira Island, Portugal: (IEEE) Institute of Electrical and Electronics Engineers. [More Information]
  • Worrall, S., Orchansky, D., Masson, F., Nieto, J., Nebot, E. (2010). Determining High Safety Risk Scenarios by Applying Context Information. Journal of Physical Agents, 4(2), 27-34. [More Information]
  • Arelovich, A., Masson, F., Agamennoni, O., Worrall, S., Nebot, E. (2010). Heuristic rule for truck dispatching in open-pit mines with local Information-based decisions. 13th International IEEE Conference on Intelligent Transportation Systems, Madeira Island, Portugal: (IEEE) Institute of Electrical and Electronics Engineers. [More Information]
  • Worrall, S., Orchansky, D., Masson, F., Nebot, E. (2010). Improving vehicle safety using context based detection of risk. 13th International IEEE Conference on Intelligent Transportation Systems, Madeira Island, Portugal: (IEEE) Institute of Electrical and Electronics Engineers. [More Information]

2008

  • Worrall, S., Nebot, E. (2008). A Probabilistic Method for Detecting Impending Vehicle Interactions. 2008 IEEE International Conference on Robotics and Automation ICRA 2008, Pasadena: (IEEE) Institute of Electrical and Electronics Engineers. [More Information]
  • Orchansky, D., Worrall, S., Nebot, E. (2008). An effective way of displaying situation awareness information in mining vehicles. 2008 Fifth Annual Australian Mining Technology Conference Smart Technologies for Sustaining the Minerals Boom, Victoria, Australia: The Australasian Institute of Mining and Metallurgy.

2007

  • Worrall, S., Nebot, E. (2007). A Comprehensive Approach to Improving Vehicle Safety in Mining. 2007 Australian Mining Technology Conference 'Smart Technologies for Overcoming the Skills Shortage', Carlton, Victoria, Australia: The Australasian Institute of Mining and Metallurgy.
  • Worrall, S., Nebot, E. (2007). Automated Process for Generating Digitised Maps through GPS Data Compression. Australasian Conference on Robotics and Automation (ACRA), Brisbane, Australia: Australian Robotics and Automation Association (ARAA).
  • Worrall, S., Nebot, E. (2007). Using Non-Parametric Filters and Sparse Observations to Localise a Fleet of Mining Vehicles. 2007 IEEE International Conference on Robotics and Automation ICRA 2007, United States: (IEEE) Institute of Electrical and Electronics Engineers.

2006

  • Worrall, S., Nebot, E. (2006). Discrete Fleet Management System. 2006 Australian Mining Technology Conference, Carlton, Vic, Australia: The Australasian Institute of Mining and Metallurgy.
  • Nebot, E., Guivant, J., Worrall, S. (2006). Haul Truck Alignment Monitoring and Operator Warning System. Journal of Field Robotics, 23(2), 141-161. [More Information]
  • Worrall, S., Nebot, E. (2006). Truck Localisation in a Mine Using Sparse Observations. ACRA 2006 - Australasian Conference on Robotics and Automation, New Zealand: Australian Robotics and Automation Association (ARAA).

2004

  • Kloos, G., Guivant, J., Worrall, S., Maclean, A., Nebot, E. (2004). Wireless Network For Mining Applications. 2004 Australasian Conference on Robotics and Automation (ACRA), Australia: Australian Robotics and Automation Association (ARAA). [More Information]
Back to Top

For support on your academic profile contact .