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Autonomous driving has attracted significant attention from both academia and industries, which is expected to offer a safer and more efficient driving system. However, current autonomous driving systems are mostly based on a single…
To ensure their safe use, autonomous vehicles (AVs) must meet rigorous certification criteria that involve executing maneuvers safely within (arbitrary) scenarios where other actors perform their intended maneuvers. For that purpose,…
The capabilities of automated vehicles are advancing rapidly, yet achieving full autonomy remains a significant challenge, requiring ongoing human cognition in decision-making processes. Incorporating human cognition into control algorithms…
Trust in robots has been gathering attention from multiple directions, as it has special relevance in the theoretical descriptions of human-robot interactions. It is essential for reaching high acceptance and usage rates of robotic…
In this dissertation, we address a problem of safe and efficient intersection crossing traffic management of autonomous and connected ground traffic. Toward this objective, an algorithm that is called the Discrete-time occupancies…
Hybrid traffic which involves both autonomous and human-driven vehicles would be the norm of the autonomous vehicles practice for a while. On the one hand, unlike autonomous vehicles, human-driven vehicles could exhibit sudden abnormal…
Urban intersections are prone to delays and inefficiencies due to static precedence rules and occlusions limiting the view on prioritized traffic. Existing approaches to improve traffic flow, widely known as automatic intersection…
We address the problem of optimally controlling Connected and Automated Vehicles (CAVs) arriving from two multi-lane roads and merging at multiple points where the objective is to jointly minimize the travel time and energy consumption of…
Societal-scale deployment of autonomous vehicles requires them to coexist with human drivers, necessitating mutual understanding and coordination among these entities. However, purely real-world or simulation-based experiments cannot be…
A significant portion of roads, particularly in densely populated developing countries, lacks explicitly defined right-of-way rules. These understructured roads pose substantial challenges for autonomous vehicle motion planning, where…
Vehicle-road collaboration is a promising approach for enhancing the safety and efficiency of autonomous driving by extending the intelligence of onboard systems to smart roadside infrastructures. The introduction of digital twins (DTs),…
Connected and autonomous vehicles (CAVs) can reduce human errors in traffic accidents, increase road efficiency, and execute various tasks ranging from delivery to smart city surveillance. Reaping these benefits requires CAVs to…
In this paper, we introduce a temporal logic-based safety filter for Autonomous Intersection Management (AIM), an emerging infrastructure technology for connected vehicles to coordinate traffic flow through intersections. Despite…
Connected automated vehicles (CAV), which incorporate vehicle-to-vehicle (V2V) communication into their motion planning, are expected to provide a wide range of benefits for individual and overall traffic flow. A frequent constraint or…
Ethical dilemmas are a common challenge in everyday driving, requiring human drivers to balance competing priorities such as safety, efficiency, and rule compliance. However, much of the existing research in automated vehicles (AVs) has…
This paper addresses the optimal control of Connected and Automated Vehicles (CAVs) arriving from two roads at a merging point where the objective is to jointly minimize the travel time and energy consumption of each CAV. The solution…
Security of (semi)-autonomous vehicles is a growing concern, first, due to the increased exposure of the functionality to the potential attackers; second, due to the reliance of car functionalities on diverse (semi)-autonomous systems;…
To investigate the impact of Autonomous Vehicles (AVs) on urban congestion, this study looks at their performance at road intersections. Intersection performance has been studied across a range of traffic densities using a simple MATLAB…
Ensuring fairness in the coordination of connected and automated vehicles at intersections is essential for equitable access, social acceptance, and long-term system efficiency, yet it remains underexplored in safety-critical, real-time…
Research into safety in autonomous and semi-autonomous vehicles has, so far, largely been focused on testing and validation through simulation. Due to the fact that failure of these autonomous systems is potentially life-endangering, formal…