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Multipath communication not only allows improved throughput but can also be used to leverage different path characteristics to best fulfill each application's objective. In particular, certain delay-sensitive applications, such as real time…
Imagine a tracking agent $P$ who wants to follow a moving target $Q$ in $d$-dimensional Euclidean space. The tracker has access to a noisy location sensor that reports an estimate $\tilde{Q}(t)$ of the target's true location $Q(t)$ at time…
In this paper, we address the problem of motion planning and control at the limits of handling, under locally varying traction conditions. We propose a novel solution method where traction variations over the prediction horizon are…
We address optimal placement of vehicles with simple motion to intercept a mobile target that arrives stochastically on a line segment. The optimality of vehicle placement is measured through a cost function associated with intercepting the…
We investigate dynamical properties of traffic flow using the stochastic car-following model with modified optimal velocity on circular road. The safety distance following the two-second rule and autonomous vehicles, acting as agents,…
Transferring a physical system from an initial to a final state while minimizing energetic losses is an interdisciplinary control problem that bridges stochastic thermodynamics and optimal transport theory. Recent research typically…
Formation control deals with the design of decentralized control laws that stabilize mobile, autonomous agents at prescribed distances from each other. We call any configuration of the agents a target configuration if it satisfies the…
In this paper we present distributed and adaptive algorithms for motion coordination of a group of m autonomous vehicles. The vehicles operate in a convex environment with bounded velocity and must service demands whose time of arrival,…
This paper develops an optimal data aggregation policy for learning-based traffic control systems based on imagery collected from Road Side Units (RSUs) under imperfect communications. Our focus is optimizing semantic information flow from…
In this paper we propose some novel path planning strategies for a double integrator with bounded velocity and bounded control inputs. First, we study the following version of the Traveling Salesperson Problem (TSP): given a set of points…
We study a search problem on capturing a moving target on an infinite real line. Two autonomous mobile robots (which can move with a maximum speed of 1) are initially placed at the origin, while an oblivious moving target is initially…
This paper studies the synchronization problem of second-order nonlinear multi-agent systems with intermittent communication in the presence of irregular communication delays and possible information loss. The control objective is to steer…
Learning-based approaches are increasingly popular for traffic control problems. However, these approaches are applied typically as black boxes with limited theoretical guarantees and interpretability. In this paper, we consider the theory…
To help mitigate road congestion caused by the unrelenting growth of traffic demand, many transportation authorities have implemented managed lane policies, which restrict certain freeway lanes to certain types of vehicles. It was…
Coordinating multiple autonomous agents to reach a target region while avoiding collisions and maintaining communication connectivity is a core problem in multi-agent systems. In practice, agents have a limited communication range. Thus,…
We consider the problem of collectively delivering some message from a specified source to a designated target location in a graph, using multiple mobile agents. Each agent has a limited energy which constrains the distance it can move.…
Generating competitive strategies and performing continuous motion planning simultaneously in an adversarial setting is a challenging problem. In addition, understanding the intent of other agents is crucial to deploying autonomous systems…
This paper aims to solve the coordination of a team of robots traversing a route in the presence of adversaries with random positions. Our goal is to minimize the overall cost of the team, which is determined by (i) the accumulated risk…
We consider a general class of dynamic resource allocation problems within a stochastic optimal control framework. This class of problems arises in a wide variety of applications, each of which intrinsically involves resources of different…
We study a novel graph path planning problem for multiple agents that may crash at runtime, and block part of the workspace. In our setting, agents can detect neighboring crashed agents, and change followed paths at runtime. The objective…