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The advent of heterogeneous multi-core architectures brought with it huge benefits to energy efficiency by running programs on properly-sized cores. Modern heterogeneous multi-core systems as suggested by Artjom et al. schedule tasks to…
Within the field of automated driving, a clear trend in environment perception tends towards more sensors, higher redundancy, and overall increase in computational power. This is mainly driven by the paradigm to perceive the entire…
To deliver high performance in power limited systems, architects have turned to using heterogeneous systems, either CPU+GPU or mixed CPU-hardware systems. However, in systems with different processor types and task affinities, scheduling…
This paper proposes an MPC-based controller to efficiently execute multiple hierarchical tasks for underactuated and constrained robotic systems. Existing task-space controllers or whole-body controllers solve instantaneous optimization…
The safety of an automated vehicle hinges crucially upon the accuracy of perception and decision-making latency. Under these stringent requirements, future automated cars are usually equipped with multi-modal sensors such as cameras and…
Model Predictive Control (MPC) has established itself as the primary methodology for constrained control, enabling autonomy across diverse applications. While model fidelity is crucial in MPC, solving the corresponding optimization problem…
The control of manufacturing processes must satisfy high quality and efficiency requirements while meeting safety requirements. A broad spectrum of monitoring and control strategies, such as model- and optimization-based controllers, are…
Affective states have a critical role in driving performance and safety. They can degrade driver situation awareness and negatively impact cognitive processes, severely diminishing road safety. Therefore, detecting and assessing drivers'…
This dissertation proposes two solutions for urban traffic control in the presence of connected and automated vehicles. First a centralized platoon-based controller is proposed for the cooperative intersection management problem that takes…
A traffic system is a random and complex large system, which is difficult to conduct repeated modelling and control research in a real traffic environment. With the development of automatic driving technology, the requirements for testing…
Simulation is an essential tool to develop and benchmark autonomous vehicle planning software in a safe and cost-effective manner. However, realistic simulation requires accurate modeling of nuanced and complex multi-agent interactive…
Ensuring fairness in the coordination of connected and automated vehicles at intersections is essential for equitable access, social acceptance, and long-term system efficiency, yet it remains underexplored in safety-critical, real-time…
This paper presents a hierarchical control scheme for interconnected linear systems. At the higher layer of the control structure a robust centralized Model Predictive Control (MPC) algorithm based on a reduced order dynamic model of the…
Road traffic accidents remain a significant global concern, with the majority attributed to human factors such as driver distraction and fatigue. This study proposes a camera-based approach to derive useful indicators to assess driver…
In recent years, numerous vehicular technologies, e.g., cruise control and steering assistant, have been proposed and deployed to improve the driving experience, passenger safety, and vehicle performance. Despite the existence of several…
The goal of this work is to minimize the energy dissipation of embedded controllers without jeopardizing the quality of control (QoC). Taking advantage of the dynamic voltage scaling (DVS) technology, this paper develops a performance-aware…
The implementation of optimization-based motion coordination approaches in real world multi-agent systems remains challenging due to their high computational complexity and potential deadlocks. This paper presents a distributed model…
As a part of Advanced Driver Assistance Systems (ADASs), Consensus-based Speed Advisory Systems (CSAS) have been proposed to recommend a common speed to a group of vehicles for specific application purposes, such as emission control and…
This article introduces a highly parallel algorithm for molecular dynamics simulations with short-range forces on single node multi- and many-core systems. The algorithm is designed to achieve high parallel speedups for strongly…
The paper presents a scheduling intelligent system intended for the project management and for the operation management as well, having integrated a planner time buffer method combined with the PERT (Programme Evaluation and Review…