Related papers: Semi-autonomous Intersection Collision Avoidance t…

We present the design and validation of a centralized controller, called a supervisor, for collision avoidance of multiple human-driven vehicles at a road intersection, considering measurement errors, unmodeled dynamics, and uncontrolled…

This paper presents the design of a supervisory algorithm that monitors safety at road intersections and overrides drivers with a safe input when necessary. The design of the supervisor consists of two parts: safety verification and control…

Before reaching full autonomy, vehicles will gradually be equipped with more and more advanced driver assistance systems (ADAS), effectively rendering them semi-autonomous. However, current ADAS technologies seem unable to handle complex…

Autonomous Vehicles are currently being tested in a variety of scenarios. As we move towards Autonomous Vehicles, how should intersections look? To answer that question, we break down an intersection management into the different conundrums…

Cyber-physical systems (CPS), such as autonomous vehicles crossing an intersection, are vulnerable to cyber-attacks and their safety-critical nature makes them a target for malicious adversaries. This paper studies the problem of…

The number of multi-robot systems deployed in field applications has increased dramatically over the years. Despite the recent advancement of navigation algorithms, autonomous robots often encounter challenging situations where the control…

We consider the problem of cooperative intersection management. It arises in automated transportation systems for people or goods but also in multi-robots environment. Therefore many solutions have been proposed to avoid collisions. The…

Advances in autonomy offer the potential for dramatic positive outcomes in a number of domains, yet enabling their safe deployment remains an open problem. This work's motivating question is: In safety-critical settings, can we avoid the…

We investigate the problem of coordinating human-driven vehicles in road intersections without any traffic lights or signs by issuing speed advices. The vehicles in the intersection are assumed to move along an a priori known path and to be…

This thesis considers the problem of scheduling autonomous vehicles at intersections. A new system is proposed which is more efficient and could replace the recently introduced Autonomous Intersection Management (AIM) model. The proposed…

We consider an intersection zone where autonomous vehicles (AVs) and human-driven vehicles (HDVs) can be present. As a new vehicle arrives, the traffic controller needs to decide and impose an optimal sequence of the vehicles that will exit…

Connected Autonomous Vehicles will make autonomous intersection management a reality replacing traditional traffic signal control. Autonomous intersection management requires time and speed adjustment of vehicles arriving at an intersection…

Intersection is a major source of traffic delays and accidents within modern transportation systems. Compared to signalized intersection management, autonomous intersection management (AIM) coordinates the intersection crossing at an…

Regulatory approval and safety guarantees for autonomous vehicles facing frequent functional updates and complex software stacks, including artificial intelligence, are a challenging topic. This paper proposes a concept and guideline for…

We study various versions of the problem of scheduling platoons of autonomous vehicles through an unregulated intersection, where an algorithm must schedule which platoons should wait so that others can go through, so as to minimize the…

In this paper, we propose a decision making algorithm intended for automated vehicles that negotiate with other possibly non-automated vehicles in intersections. The decision algorithm is separated into two parts: a high-level decision…

This paper develops an optimal acceleration/speed profile for a single autonomous vehicle crossing multiple signalized intersections without stopping in free flow mode. The design objective is to produce both time and energy efficient…

In recent years, control under urban intersection scenarios becomes an emerging research topic. In such scenarios, the autonomous vehicle confronts complicated situations since it must deal with the interaction with social vehicles timely…

Recent work in decentralized, schedule-driven traffic control has demonstrated the ability to improve the efficiency of traffic flow in complex urban road networks. In this approach, a scheduling agent is associated with each intersection.…

Due to the complex and dynamic character of intersection scenarios, the autonomous driving strategy at intersections has been a difficult problem and a hot point in the research of intelligent transportation systems in recent years. This…