Related papers: Automation Of Road Intersections Using Consensus-b…
In this paper we consider the problem of coordinating autonomous vehicles approaching an intersection. We cast the problem in the distributed optimisation framework and propose an algorithm to solve it in real time. We extend previous work…
Intention prediction is a crucial task for Autonomous Driving (AD). Due to the variety of size and layout of intersections, it is challenging to predict intention of human driver at different intersections, especially unseen and irregular…
We propose GameOpt: a novel hybrid approach to cooperative intersection control for dynamic, multi-lane, unsignalized intersections. Safely navigating these complex and accident prone intersections requires simultaneous trajectory planning…
Modeling and evaluation of automated vehicles (AVs) in mixed-autonomy traffic is essential prior to their safe and efficient deployment. This is especially important at urban junctions where complex multi-agent interactions occur. Current…
Connected and automated vehicles provide a new opportunity for highly advanced collision avoidance, in which several cars cooperate to reach an optimal overall outcome, that no single car acting in isolation could achieve. For example, one…
We propose a stochastic model for the intersection of two urban streets. The vehicular traffic at the intersection is controlled by a set of traffic lights which can be operated subject to fix-time as well as traffic adaptive schemes.…
We present a decentralized minimum-time trajectory optimization scheme based on learning model predictive control for multi-agent systems with nonlinear decoupled dynamics and coupled state constraints. By performing the same task…
Optimal traffic-light settings are generally hard to obtain, certainly for actuated access control of an intersection. Typically, computationally expensive (microscopic) simulations or complicated optimization schemes are required to find…
In many domains such as transportation and logistics, search and rescue, or cooperative surveillance, tasks are pending to be allocated with the consideration of possible execution uncertainties. Existing task coordination algorithms either…
This paper develops an optimal acceleration/speed profile for a single autonomous vehicle crossing multiple signalized intersections without stopping in free flow mode. The design objective is to produce both time and energy efficient…
Noncooperative multi-agent systems often face coordination challenges due to conflicting preferences among agents. In particular, when agents act in their own self-interest, they may prefer different choices among multiple feasible…
This paper concerns automated vehicles negotiating with other vehicles, typically human driven, in crossings with the goal to find a decision algorithm by learning typical behaviors of other vehicles. The vehicle observes distance and speed…
In this paper, we investigate the decision making of autonomous vehicles in an unsignalized intersection in presence of malicious vehicles, which are vehicles that do not respect the law by not using the proper rules of the right of way.…
Decentralized optimization is well studied for smooth unconstrained problems. However, constrained problems or problems with composite terms are an open direction for research. We study structured (or composite) optimization problems, where…
Autonomous Vehicles are currently being tested in a variety of scenarios. As we move towards Autonomous Vehicles, how should intersections look? To answer that question, we break down an intersection management into the different conundrums…
Electric, intelligent, and network are the most important future development directions of automobiles. Intelligent electric vehicles have shown great potentials to improve traffic mobility and reduce emissions, especially at unsignalized…
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…
The connected vehicle technology is a remarkable trend in the field of the intelligent transportation system. Since the actual deployment of the connected vehicle system is still lacking hitherto, simulation is widely adopted as the major…
Highway merges present difficulties for human drivers and automated vehicles due to incomplete situational awareness and a need for a structured (precedence, order) environment, respectively. In this paper, an unstructured merge algorithm…
Based on game theory and dynamic Level-k model, this paper establishes an intelligent traffic control method for intersections, studies the influence of multi-agent vehicle joint decision-making and group behavior disturbance on system…