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Recent road trials have shown that guaranteeing the safety of driving decisions is essential for the wider adoption of autonomous vehicle technology. One promising direction is to pose safety requirements as planning constraints in…
Since the traffic administration at road intersections determines the capacity bottleneck of modern transportation systems, intelligent cooperative coordination for connected autonomous vehicles (CAVs) has shown to be an effective solution.…
Simulation of autonomous vehicle systems requires that simulated traffic participants exhibit diverse and realistic behaviors. The use of prerecorded real-world traffic scenarios in simulation ensures realism but the rarity of safety…
This paper addresses the problem of planning time-optimal trajectories for multiple cooperative agents along specified paths through a static road network. Vehicle interactions at intersections create non-trivial decisions, with complex…
With the widespread deployment of dashcams and advancements in computer vision, developing accident prediction models from the dashcam perspective has become critical for proactive safety interventions. However, two key challenges persist:…
The rapid growth of Internet paths in heterogeneity, scale, and dynamics has made existing emulators increasingly insufficient in flexibility, scalability, and usability. To address these limitations, we present Rattan, an extensible and…
We present FINJ, a high-level fault injection tool for High-Performance Computing (HPC) systems, with a focus on the management of complex experiments. FINJ provides support for custom workloads and allows generation of anomalous conditions…
The connected vehicle technology is a remarkable trend in the field of the intelligent transportation system. Since the actual deployment of the connected vehicle system is still lacking hitherto, simulation is widely adopted as the major…
The rapid scaling of large vision pretrained models makes fine-tuning tasks more and more difficult on devices with low computational resources. We explore a new visual adaptation paradigm called separated tuning, which treats large…
Navigating rigid body objects through crowded environments can be challenging, especially when narrow passages are presented. Existing sampling-based planners and optimization-based methods like mixed integer linear programming (MILP)…
The core aspects and latest developments of Manoeuvre Intelligence for Space Safety (MISS), a new software tool for collision avoidance analysis and design, are presented. The tool leverages analytical and semi-analytical methods for the…
The sliding mode approach is recognized as an efficient tool for treating the chattering behavior in hybrid systems. However, the amplitude of chattering, by its nature, is proportional to magnitude of discontinuous control. A possible…
This paper addresses the problem of motion planning for differential drive micro-mobility platforms. This class of vehicle is designed to perform small-distance transportation of passengers and goods in structured environments. Our approach…
In this article we introduce the concept and the first implementation of a lightweight client-server-framework as middleware for distributed computing. On the client side an installation without administrative rights or privileged ports can…
In this paper we propose a technique that assigns obstacles to clusters used for collision avoidance via Mixed-Integer Programming. This strategy enables a reduction in the number of binary variables used for collision avoidance, thus…
This paper introduces a local planner that synergizes the decision making and trajectory planning modules towards autonomous driving. The decision making and trajectory planning tasks are jointly formulated as a nonlinear programming…
Improving data systems' performance for join operations has long been an issue of great importance. More recently, a lot of focus has been devoted to multi-way join performance and especially on reducing the negative impact of producing…
This paper presents our work on developing parallel computational methods for two-phase flow on modern parallel computers, where techniques for linear solvers and nonlinear methods are studied and the standard and inexact Newton methods are…
Recent advances in multimodal foundation models have achieved state-of-the-art performance across a range of tasks. These breakthroughs are largely driven by new pre-training paradigms that leverage large-scale, unlabeled multimodal data,…
Collision-tolerant trajectory planning is the consideration that collisions, if they are planned appropriately, enable more effective path planning for robots capable of handling them. A mixed integer programming (MIP) optimization…