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Cooperative driving at isolated intersections attracted great interest and had been well discussed in recent years. However, cooperative driving in multi-intersection road networks remains to be further investigated, because many algorithms…
The cooperative control applied to vehicles allows the optimization of traffic on the roads. There are many aspects to consider in the case of the operation of autonomous vehicles on highways since there are different external parameters…
Collaborative driving aims to improve safety and efficiency by enabling connected vehicles to coordinate under partial observability. Recent approaches have evolved from sharing visual features for perception to exchanging language-based…
Accurate lane change prediction can reduce potential accidents and contribute to higher road safety. Adaptive cruise control (ACC), lane departure avoidance (LDA), and lane keeping assistance (LKA) are some conventional modules in advanced…
Connected Autonomous Vehicles (CAVs) are widely expected to improve traffic safety and efficiency by exploiting information from surrounding vehicles via V2V communication. A CAV typically adapts its speed based on information from the…
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,…
Collaborative decision-making is an essential capability for multi-robot systems, such as connected vehicles, to collaboratively control autonomous vehicles in accident-prone scenarios. Under limited communication bandwidth, capturing…
We present a scalable distributed target tracking algorithm based on the alternating direction method of multipliers that is well-suited for a fleet of autonomous cars communicating over a vehicle-to-vehicle network. Each sensing vehicle…
This paper addresses the problem of traffic prediction and control of autonomous vehicles on highways. A modified Interacting Multiple Model Kalman filter algorithm is applied to predict the motion behavior of the traffic participants by…
Connectivity in ground vehicles allows vehicles to share crucial vehicle data, such as vehicle acceleration, with each other. Using sensors such as cameras, radars and lidars, on the other hand, the intravehicular distance between a leader…
In this work we consider the problem of mobile robots that need to manipulate/transport an object via cables or robotic arms. We consider the scenario where the number of manipulating robots is redundant, i.e. a desired object configuration…
Multi-agent collaborative driving promises improvements in traffic safety and efficiency through collective perception and decision making. However, existing communication media -- including raw sensor data, neural network features, and…
In this paper, a cooperative decision-making is presented, which is suitable for intention-aware automated vehicle functions. With an increasing number of highly automated and autonomous vehicles on public roads, trust is a very important…
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…
Perceiving vehicles in a driver's blind spot is vital for safe driving. The detection of potentially dangerous vehicles in these blind spots can benefit from vehicular network semantic communication technology. However, efficient semantic…
In this paper, we consider coordinated movement of a network of vehicles consisting of a bounded number of malicious agents, that is, vehicles must reach consensus in longitudinal position and a common predefined velocity. The motions of…
This paper is about obtaining stable vehicle platooning by using Cooperative Adaptive Cruise Control when the communication is unreliable and suffers from message losses. We model communication losses as independent random events and we…
The Bluetooth protocol can be used for intervehicle communication equipped with Bluetooth devices. This work investigates the challenges and feasibility of developing intelligent driving system providing timesensitive information about…
Cooperative perception extends the perception capabilities of autonomous vehicles by enabling multi-agent information sharing via Vehicle-to-Everything (V2X) communication. Unlike traditional onboard sensors, V2X acts as a dynamic…
Cooperative perception, which has a broader perception field than single-vehicle perception, has played an increasingly important role in autonomous driving to conduct 3D object detection. Through vehicle-to-vehicle (V2V) communication…