Related papers: A class of hopping patterns with minimal collision…
This article contributes to the search for a notion of postural style, focusing on the issue of classifying subjects in terms of how they maintain posture. Longer term, the hope is to make it possible to determine on a case by case basis…
Despite the extensive application of nonlinear Model Predictive Control (MPC) in automated driving, balancing its computational efficiency with respect to the control performance and constraint satisfaction remains a challenge in emergency…
This paper proposes a new set of conditions for exactly representing collision avoidance constraints within optimization-based motion planning algorithms. The conditions are continuously differentiable and therefore suitable for use with…
We study a singular Hamiltonian system with an $\al$-homogeneous potential that contains, as a particular case, the classical $N$--body problem. We introduce a variational Morse--like index for a class of collision solutions and, using the…
The contribution of this paper is a generalized formulation of correctional learning using optimal transport, which is about how to optimally transport one mass distribution to another. Correctional learning is a framework developed to…
The anticipated launch of fully autonomous vehicles presents an opportunity to develop and implement novel traffic management systems. Intersections are one of the bottlenecks for urban traffic, and thus offer tremendous potential for…
An exact formula for the minimal coordination numbers of the parallel packed bundle of rods is presented based on an optimal thickening scenario. Hexagonal and square lattices are considered.
We consider the estimation of a regression function with random design and heteroscedastic noise in a nonparametric setting. More precisely, we address the problem of characterizing the optimal penalty when the regression function is…
The Gipps car-following model is a widely used tool for studying and simulation traffic dynamics. Despite its popularity an often disregarded property is that under heterogeneous parametrization on the individual vehicles in the traffic…
This paper improves safe motion primitives-based teleoperation of a multirotor by developing a hierarchical collision avoidance method that modulates maximum speed based on environment complexity and perceptual constraints. Safe speed…
Hitting rate and escape rate are two examples of recurrence laws for a dynamical system, and a general limit connects them. We show that for both Gibbs-Markov systems or any systems with the $\phi$-mixing measure, for a sequence of nested…
We develop two further numerical tests of parton cascade models: the ideal gas equation of state and the collision frequency tests. The equation of state test checks the initial momentum distribution generator and free expansion dynamics in…
A collision hazard measure that has the essential characteristics to provide a measurement of safety that will be useful to AV developers, traffic infrastructure developers and managers, regulators and the public is introduced here. The…
Statistical discoveries are often obtained through multiple hypothesis testing. A variety of procedures exists to evaluate multiple hypotheses, for instance the ones of Benjamini-Hochberg, Bonferroni, Holm or Sidak. We are particularly…
This article examines a symbolic numerical approach to optimize a vehicle's track for autonomous driving and collision avoidance. The new approach uses the classical cost function definition incorporating the essential aspects of the…
In this paper, we establish a lower bound on the level of a perfect complex with power torsion homology on positive degrees and a power torsion minimal generator for zero homology. Examples are provided to demonstrate that the bound is…
For motion planning in high dimensional configuration spaces, a significant computational bottleneck is collision detection. Our aim is to reduce the expected number of collision checks by creating a belief model of the configuration space…
We present a continuous-time collision detection algorithm for quickly detecting whether certain polynomial trajectories in time intersect with convex obstacles. The algorithm is used in conjunction with an existing multicopter trajectory…
In this paper, we obtain the maximum principle for optimal controls of stochastic systems with jumps by introducing a new method of variation. The control is allowed to enter both diffusion and jump term and the control domain need not to…
We consider the ramp metering problem for a freeway stretch modeled by the Cell Transmission Model. Assuming perfect model knowledge and perfect traffic demand prediction, the ramp metering problem can be cast as a finite horizon optimal…