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Conventional approaches for addressing road safety rely on manual interventions or immobile CCTV infrastructure. Such methods are expensive in enforcing compliance to traffic rules and do not scale to large road networks. This paper…
While both outdoor and indoor localization methods are flourishing, how to properly marry them to offer pervasive localizability in urban areas remains open. Recently proposals on indoor-outdoor detection make the first step towards such an…
Accurately predicting and inferring a driver's decision to brake is critical for designing warning systems and avoiding collisions. In this paper we focus on predicting a driver's intent to brake in car-following scenarios from a…
Cooperative maneuver planning promises to significantly improve traffic efficiency at unsignalized intersections by leveraging connected automated vehicles. Previous works on this topic have been mostly developed for completely automated…
Simultaneous localization and mapping (SLAM) are essential in numerous robotics applications, such as autonomous navigation. Traditional SLAM approaches infer the metric state of the robot along with a metric map of the environment. While…
Global Positioning System (GPS) plays a critical role in navigation by utilizing satellite signals, but its accuracy in urban environments is often compromised by signal obstructions. Previous research has categorized GPS reception…
Cooperative driving, enabled by communication between automated vehicle systems, is expected to significantly contribute to transportation safety and efficiency. Cooperative Adaptive Cruise Control (CACC) and platooning are two of the main…
Sharing and joint processing of camera feeds and sensor measurements, known as Cooperative Perception (CP), has emerged as a new technique to achieve higher perception qualities. CP can enhance the safety of Autonomous Vehicles (AVs) where…
Achieving ubiquitous high-accuracy localization is crucial for next-generation wireless systems, yet remains challenging in multipath-rich urban environments. By exploiting the fine-grained multipath characteristics embedded in channel…
Cooperative Adaptive Cruise Control (CACC) is a pivotal vehicular application that would allow transportation field to achieve its goals of increased traffic throughput and roadway capacity. This application is of paramount interest to the…
As a promising 6G technology, integrated sensing and communication (ISAC) gains growing interest. ISAC provides integration gain via sharing spectrum, hardware, and software. However, concerns exist regarding its sensing performance when…
To address the intricate challenges of decentralized cooperative scheduling and motion planning in Autonomous Mobility-on-Demand (AMoD) systems, this paper introduces LMMCoDrive, a novel cooperative driving framework that leverages a Large…
Autonomous Vehicles (AVs) rely on individual perception systems to navigate safely. However, these systems face significant challenges in adverse weather conditions, complex road geometries, and dense traffic scenarios. Cooperative…
It is well known that GNSS receivers are vulnerable to jamming and spoofing attacks, and numerous such incidents have been reported in the last decade all over the world. The notion of participatory sensing, or crowdsensing, is that a large…
High-precision vehicle positioning is key to the implementation of modern driving systems in urban environments. Global Navigation Satellite System (GNSS) carrier phase measurements can provide millimeter- to centimeter-level positioning,…
In this study, we propose a rotation-based connected automated vehicle (CAV) distributed cooperative control strategy for an on-ramp merging scenario. By assuming the mainline and ramp line are straight, we firstly design a virtual rotation…
Urban environments offer a challenging scenario for autonomous driving. Globally localizing information, such as a GPS signal, can be unreliable due to signal shadowing and multipath errors. Detailed a priori maps of the environment with…
Traffic forecasting is a challenging spatio-temporal modeling task and a critical component of urban transportation management. Current studies mainly focus on deterministic predictions, with limited considerations on the uncertainty and…
Cooperative localization is considered a key solution for enabling autonomous navigation of multi-vehicle systems (MVS) in GNSS-denied environments. Among all solutions, distributed cooperative localization (DCL) has garnered widespread…
Scalable and decentralized algorithms for Cooperative Self-localization (CS) of agents, and Multi-Target Tracking (MTT) are important in many applications. In this work, we address the problem of Simultaneous Cooperative Self-localization…