Related papers: Optimal cooperative motion planning for vehicles a…
In this context, a major focus of this thesis is on unintentional collisions, where a straight goal is to eliminate injury from users and passerby's via realtime sensing and control systems. A less obvious focus is to combine collision…
In this paper we introduce and study a new concept of parametrised topological complexity, a topological invariant motivated by the motion planning problem of robotics. In the parametrised setting, a motion planning algorithm has high…
Many motion planning algorithms for automated driving require estimating the probability of collision (POC) to account for uncertainties in the measurement and estimation of the motion of road users. Common POC estimation techniques often…
As robots are being increasingly used in close proximity to humans and objects, it is imperative that robots operate safely and efficiently under real-world conditions. Yet, the environment is seldom known perfectly. Noisy sensors and…
We propose factor graph optimization for simultaneous planning, control, and trajectory estimation for collision-free navigation of autonomous systems in environments with moving objects. The proposed online probabilistic motion planning…
We consider the problem of optimal unsignalized intersection management, wherein we seek to obtain safe and optimal trajectories, for a set of robots that arrive randomly and continually. This problem involves repeatedly solving a mixed…
Connected and automated vehicles have shown great potential in improving traffic mobility and reducing emissions, especially at unsignalized intersections. Previous research has shown that vehicle passing order is the key influencing factor…
We study a combinatorial problem inspired by the following scenario: fully autonomous vehicles drive on a multi-lane ($m \geq 2$) road. Each vehicle heads to its own destination and is allowed to exit the road only through a single…
Distributed control algorithms are known to reduce overall computation time compared to centralized control algorithms. However, they can result in inconsistent solutions leading to the violation of safety-critical constraints. Inconsistent…
In this paper, we provide a decentralized theoretical framework for coordination of connected and automated vehicles (CAVs) at different traffic scenarios. The framework includes: (1) an upper-level optimization that yields for each CAV its…
This work addresses the coordination problem of multiple robots with the goal of finding specific hazardous targets in an unknown area and dealing with them cooperatively. The desired behaviour for the robotic system entails multiple…
This thesis explores the benefits machine learning algorithms can bring to online planning and scheduling for autonomous vehicles in off-road situations. Mainly, we focus on typical problems of interest which include computing itineraries…
Connected and automated vehicles (CAVs) rely on wireless communication to exchange state information for distributed control, making communication delays a critical factor that can affect vehicle motion and degrade control performance,…
In this paper, a kinematic motion planning algorithm for cooperative spatial payload manipulation is presented. A hierarchical approach is introduced to compute real-time collision-free motion plans for a formation of mobile manipulator…
Adverse weather conditions and occlusions in urban environments result in impaired perception. The uncertainties are handled in different modules of an automated vehicle, ranging from sensor level over situation prediction until motion…
Cooperative vehicle coordination at unsignalized intersections has garnered significant interest from both academia and industry in recent years, highlighting its notable advantages in improving traffic throughput and fuel efficiency.…
When robots entered our day-to-day life, the shared space surrounding humans and robots is critical for effective Human-Robot collaboration. The design of shared space should satisfy humans' preferences and robots' efficiency. This work…
The rapid deployment of robotics technologies requires dedicated optimization algorithms to manage large fleets of autonomous agents. This paper supports robotic parts-to-picker operations in warehousing by optimizing order-workstation…
Self-driving vehicles are a maturing technology with the potential to reshape mobility by enhancing the safety, accessibility, efficiency, and convenience of automotive transportation. Safety-critical tasks that must be executed by a…
Confined areas present an opportunity for early deployment of autonomous vehicles (AV) due to the absence of non-controlled traffic participants. In this paper, we present an approach for coordination of multiple AVs in confined sites. The…