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Reliable vehicle navigation in urban environments remains a challenging problem due to frequent satellite signal blockages caused by tall buildings and complex infrastructure. While fusing inertial reading with satellite positioning in an…
A new framework is developed for control of constrained nonlinear systems with structured parametric uncertainties. Forward invariance of a safe set is achieved through online parameter adaptation and data-driven model estimation. The new…
In realistic pursuit-evasion scenarios, abrupt target maneuvers generate unavoidable periods of elevated uncertainty that result in estimation delays. Such delays can degrade interception performance to the point of causing a miss. Existing…
In this paper, we analyze the effect of time delay dynamics on controller design for Unmanned Aerial Vehicles (UAVs) with vision based navigation. Time delay is an inevitable phenomenon in cyber-physical systems, and has important…
In this endeavor, we developed a comprehensive system that processes integrated visual features derived from video frames captured by a regular camera, along with depth details obtained from a point cloud scanner. This system is designed to…
There is an increasing popularity in exploiting modern vehicles as mobile sensors to obtain important road information such as potholes, black ice and road profile. Availability of such information has been identified as a key enabler for…
We consider a distributed cloud service deployed at a set of distinct server pools. Arriving jobs are classified into heterogeneous types, in accordance with their setup times which are differentiated at each of the pools. A dispatcher for…
Two new methods are presented for estimating car-following model parameters using data collected from the Adaptive Cruise Control (ACC) enabled vehicles. The vehicle is assumed to follow a constant time headway relative velocity model in…
Vehicle to Vehicle (V2V) communication has a great potential to improve reaction accuracy of different driver assistance systems in critical driving situations. Cooperative Adaptive Cruise Control (CACC), which is an automated application,…
This paper presents a novel multi-tier UAV-assisted edge computing system designed for low-altitude networks. The system comprises vehicle users, lightweight Low-Tier UAVs (L-UAVs), and High-Tier UAV (H-UAV). L-UAVs function as small-scale…
We present an advanced interpolation method for estimating smooth spatiotemporal profiles for local highway traffic variables such as flow, speed and density. The method is based on stationary detector data as typically collected by traffic…
Accurate traffic flow forecasting is essential for the development of intelligent transportation systems (ITS), supporting tasks such as traffic signal optimization, congestion management, and route planning. Traditional models often fail…
This paper focuses on the data-driven optimal structured controller design for discrete-time linear time-invariant (LTI) systems, considering both the $H_2$ performance and the $H_\infty$ performance. Specifically, we consider three…
Ride-sourcing services are now reshaping the way people travel by effectively connecting drivers and passengers through mobile internets. Online matching between idle drivers and waiting passengers is one of the most key components in a…
A general framework is presented for analyzing the stability and performance of nonlinear and linear parameter varying (LPV) time delayed systems. First, the input/output behavior of the time delay operator is bounded in the frequency…
Missing data is a common problem in real-world sensor data collection. The performance of various approaches to impute data degrade rapidly in the extreme scenarios of low data sampling and noisy sampling, a case present in many real-world…
In vehicular cloud computing (VCC) systems, the computational resources of moving vehicles are exploited and managed by infrastructures, e.g., roadside units, to provide computational services. The offloading of computational tasks and…
Precise motion control of underactuated surface vessels is a crucial task in various maritime applications. In this work, we develop a nonlinear motion control strategy for surface vessels inspired by the pursuit guidance philosophy. Any…
In this paper, a comprehensive Eco-Driving strategy for CAVs is presented. In this setup, multiple driving modes calculate speed profiles ideal for their own set of constraints simultaneously to save fuel as much as possible, while a High…
The delivery of high-quality, low-latency video streams is critical for remote autonomous vehicle control, where operators must intervene in real time. However, reliable video delivery over Fourth/Fifth-Generation (4G/5G) mobile networks is…