Related papers: Safety Verification and Control for Collision Avoi…
Traffic signal control is safety-critical for our daily life. Roughly one-quarter of road accidents in the U.S. happen at intersections due to problematic signal timing, urging the development of safety-oriented intersection control.…
Police officer presence at an intersection discourages a potential traffic violator from violating the law. It also alerts the motorists' consciousness to take precaution and follow the rules. However, due to the abundant intersections and…
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…
Urban intersections, merging roadways, roundabouts, and speed reduction zones along with the driver responses to various disturbances are the primary sources of bottlenecks in corridors that contribute to traffic congestion. The…
Coordinated control of connected and automated vehicles (CAVs) emerges as a promising technology to improve traffic safety, efficiency, and sustainability. Meanwhile, mixed traffic, where CAVs coexist with conventional human-driven vehicles…
Path planning for autonomous robots faces a fundamental trade-off between path length and obstacle clearance. While existing algorithms typically prioritize a single objective, we introduce the Unified Path Planner (UPP), a graph-search…
We build on our recent work on formalization of responsibility-sensitive safety (RSS) and present the first formal framework that enables mathematical proofs of the safety of control strategies in intersection scenarios. Intersection…
We deal with the problem of planning collision-free trajectories for robots operating in a shared space. Given the start and destination position for each of the robots, the task is to find trajectories for all robots that reach their…
This paper introduces a local planner that synergizes the decision making and trajectory planning modules towards autonomous driving. The decision making and trajectory planning tasks are jointly formulated as a nonlinear programming…
Provable safety is one of the most critical challenges in automated driving. The behavior of numerous traffic participants in a scene cannot be predicted reliably due to complex interdependencies and the indiscriminate behavior of humans.…
Planning in hybrid systems with both discrete and continuous control variables is important for dealing with real-world applications such as extra-planetary exploration and multi-vehicle transportation systems. Meanwhile, generating…
Agents operating in physical environments need to be able to handle delays in the input and output signals since neither data transmission nor sensing or actuating the environment are instantaneous. Shields are correct-by-construction…
In this paper, a risk map-based path planning algorithm is introduced for autonomous vehicles. Multivariate B-splines are implemented to generate a risk map, which measures the risk of colliding with different objects. In the following…
Many motion planning algorithms for automated driving require estimating the probability of collision (POC) to account for uncertainties in the measurement and estimation of the motion of road users. Common POC estimation techniques often…
We propose a framework for the stability verification of Mixed-Integer Linear Programming (MILP) representable control policies. This framework compares a fixed candidate policy, which admits an efficient parameterization and can be…
To be applicable to real world scenarios trajectory planning schemes for mobile autonomous systems must be able to efficiently deal with obstacles in the area of operation. In the context of optimization based trajectory planning and…
In order for autonomous vehicles to become a part of the Intelligent Transportation Ecosystem, they are required to guarantee a particular level of safety. For that to happen a safe vehicle control algorithms need to be developed, which…
How to free a road from vehicle traffic as efficiently as possible and in a given time, in order to allow for example the passage of emergency vehicles? We are interested in this question which we reformulate as an optimal control problem.…
Velocity Planning for self-driving vehicles in a complex environment is one of the most challenging tasks. It must satisfy the following three requirements: safety with regards to collisions; respect of the maximum velocity limits defined…
In prior work, we addressed the problem of optimally controlling on line connected and automated vehicles crossing two adjacent intersections in an urban area to minimize fuel consumption while achieving maximal throughput without any…