Related papers: Scheduling Autonomous Vehicle Platoons Through an …
The gathering over meeting nodes problem asks the robots to gather at one of the pre-defined meeting nodes. The robots are deployed on the nodes of an anonymous two-dimensional infinite grid which has a subset of nodes marked as meeting…
While motion planning approaches for automated driving often focus on safety and mathematical optimality with respect to technical parameters, they barely consider convenience, perceived safety for the passenger and comprehensibility for…
Transitions between two lanes often have a significant impact on various forms of road traffic. To address this problem, we have developed a two-lane asymmetric simple exclusion process model and two hypothetical traffic control strategies,…
Road congestion in urban environments, especially near signalized intersections, has been a major cause of significant fuel and time waste. Various solutions have been proposed to solve the problem of increasing idling times and number of…
In this paper, we establish a decentralized optimal control framework for connected and automated vehicles (CAVs) crossing multiple adjacent, multi-lane signal-free intersections to minimize energy consumption and improve traffic…
Motivated by the need to develop simulation tools for verification and validation of autonomous driving systems operating in traffic consisting of both autonomous and human-driven vehicles, we propose a framework for modeling vehicle…
The problem of how to coordinate a large fleet of trucks with given itinerary to enable fuel-efficient platooning is considered. Platooning is a promising technology that enables trucks to save significant amounts of fuel by driving close…
Coordination of connected and automated vehicles (CAVs) in a mixed traffic environment poses significant challenges due to the presence of human-driven vehicles (HDVs) with stochastic dynamics and driving behavior. In earlier work, we…
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…
The goal of traffic management is efficiently utilizing network resources via adapting of source sending rates and routes selection. Traditionally, this problem is formulated into a utilization maximization problem. The single-path routing…
Based on game theory and dynamic Level-k model, this paper establishes an intelligent traffic control method for intersections, studies the influence of multi-agent vehicle joint decision-making and group behavior disturbance on system…
This paper presents a novel approach to coordinated vehicle platooning, where the platoon followers communicate solely with the platoon leader. A dynamic model is proposed to account for driving safety under communication delays. General…
The coordination of multiple autonomous vehicles into convoys or platoons is expected on our highways in the near future. However, before such platoons can be deployed, the new autonomous behaviors of the vehicles in these platoons must be…
In this paper we present a model-predictive control (MPC) based approach for vehicle platooning in an urban traffic setting. Our primary goal is to demonstrate that vehicle platooning has the potential to significantly increase throughput…
Connected and automated vehicles (CAVs) provide the most intriguing opportunity to reduce pollution, energy consumption, and travel delays. In this paper, we address the problem of vehicle platoon formation in a traffic network with partial…
Coordinating the motion of multiple agents in constrained environments is a fundamental challenge in robotics, motion planning, and scheduling. A motivating example involves $n$ robotic arms, each represented as a line segment. The…
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…
We consider optimal route planning when the objective function is a general nonlinear and non-monotonic function. Such an objective models user behavior more accurately, for example, when a user is risk-averse, or the utility function needs…
Most of the routing algorithms for unmanned vehicles, that arise in data gathering and monitoring applications in the literature, rely on the Global Positioning System (GPS) information for localization. However, disruption of GPS signals…
Connected and autonomous vehicles (CAVs), unlike conventional cars, will utilise the whole space of intersections and cross in a lane-free order. This paper formulates such a lane-free crossing of intersections as a multi-objective optimal…