Related papers: Scheduling Autonomous Vehicle Platoons Through an …
In this work we propose a macroscopic model for studying routing on networks shared between human-driven and autonomous vehicles that captures the effects of autonomous vehicles forming platoons. We use this to study inefficiency due to…
Vehicle-to-vehicle (V2V) communication is a crucial component of the future autonomous driving systems since it enables improved awareness of the surrounding environment, even without extensive processing of sensory information. However,…
The proliferation of connected and automated vehicles (CAVs) has positioned mixed traffic environments, which encompass both CAVs and human driven vehicles (HDVs), as critical components of emerging mobility systems. Signalized…
We define a new problem called the Vehicle Scheduling Problem (VSP). The goal is to minimize an objective function, such as the number of tardy vehicles over a transportation network subject to maintaining safety distances, meeting hard…
We consider a mixed autonomy scenario where the traffic intersection controller decides whether the traffic light will be green or red at each lane for multiple traffic-light blocks. The objective of the traffic intersection controller is…
We address the problem of optimally controlling Connected and Automated Vehicles (CAVs) arriving from four multi-lane roads at an intersection where they conflict in terms of safely crossing (including turns) with no collision. The…
An important capability of autonomous multi-robot systems is to prevent collision among the individual robots. One approach to this problem is to plan conflict-free trajectories and let each of the robots follow its pre-planned trajectory.…
As a strategy to reduce travel delay and enhance energy efficiency, platooning of connected and autonomous vehicles (CAVs) at non-signalized intersections has become increasingly popular in academia. However, few studies have attempted to…
Path planning for multiple robots is well studied in the AI and robotics communities. For a given discretized environment, robots need to find collision-free paths to a set of specified goal locations. Robots can be fully anonymous,…
The fundamental goal assignment problem for a multi-robot application aims to assign a unique goal to each robot while ensuring collision-free paths, minimizing the total movement cost. A plausible algorithmic solution to this NP-hard…
Platooning is a way to significantly reduce fuel consumption of trucks. Vehicles that drive at close inter-vehicle distance assisted by automatic controllers experience substantially lower air-drag. In this paper, we deal with the problem…
We introduce a parallel machine scheduling problem in which the processing times of jobs are not given in advance but are determined by a system of linear constraints. The objective is to minimize the makespan, i.e., the maximum job…
Platooning connected and autonomous vehicles (CAVs) provide significant benefits in terms of traffic efficiency and fuel economy. However, most existing platooning systems assume the availability of pre-determined plans, which is not…
The problem of gathering multiple mobile robots to a single location, is one of the fundamental problems in distributed coordination between autonomous robots. The problem has been studied and solved even for robots that are anonymous,…
In this study, we investigate a scheduling problem on identical machines in which jobs require initial setup before execution. We assume that an algorithm can dynamically form a batch (i.e., a collection of jobs to be processed together)…
Scheduling jobs with given processing times on identical parallel machines so as to minimize their total completion time is one of the most basic scheduling problems. We study interesting generalizations of this classical problem involving…
We consider the fuel-optimal coordination of trucks into platoons. Truck platooning is a promising technology that enables trucks to save significant amounts of fuel by driving close together and thus reducing air drag. We study how…
For multi-vehicle complex traffic scenarios in shared spaces such as intelligent intersections, safe coordination and trajectory planning is challenging due to computational complexity. To meet this challenge, we introduce a computationally…
This paper proposes a novel max-pressure (MP) algorithm that incorporates pedestrian traffic into the MP control architecture. Pedestrians are modeled as being included in one of two groups: those walking on sidewalks and those queued at…
We synthesize performance-aware safe cruise control policies for longitudinal motion of platoons of autonomous vehicles. Using set-invariance theories, we guarantee infinite-time collision avoidance in the presence of bounded additive…