Related papers: Automation Of Road Intersections Using Consensus-b…
In this paper, we propose a decision making algorithm for autonomous vehicle control at a roundabout intersection. The algorithm is based on a game-theoretic model representing the interactions between the ego vehicle and an opponent…
We consider the problem of optimal unsignalized intersection management, wherein we seek to obtain safe and optimal trajectories, for a set of robots that arrive randomly and continually. This problem involves repeatedly solving a mixed…
Real-time optimization of traffic flow addresses important practical problems: reducing a driver's wasted time, improving city-wide efficiency, reducing gas emissions and improving air quality. Much of the current research in traffic-light…
In this paper, we explore the application of the Decision Transformer, a decision-making algorithm based on the Generative Pre-trained Transformer (GPT) architecture, to multi-vehicle coordination at unsignalized intersections. We formulate…
Signal-free intersections are a representative application of smart and connected vehicle technologies. Although extensive results have been developed for trajectory planning and autonomous driving, the formulation and evaluation of vehicle…
Understanding the intentions of drivers at intersections is a critical component for autonomous vehicles. Urban intersections that do not have traffic signals are a common epicentre of highly variable vehicle movement and interactions. We…
Autonomous driving at unsignalized intersections is still considered a challenging application for machine learning due to the complications associated with handling complex multi-agent scenarios characterized by a high degree of…
This paper presents a novel planning and control strategy for competing with multiple vehicles in a car racing scenario. The proposed racing strategy switches between two modes. When there are no surrounding vehicles, a learning-based model…
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…
Cooperative driving at isolated intersections attracted great interest and had been well discussed in recent years. However, cooperative driving in multi-intersection road networks remains to be further investigated, because many algorithms…
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…
As autonomous vehicles (AVs) inch closer to reality, a central requirement for acceptance will be earning the trust of humans in everyday driving situations. In particular, the interaction between AVs and pedestrians is of high importance,…
To address the coordination issue of connected automated vehicles (CAVs) at urban scenarios, a game-theoretic decision-making framework is proposed that can advance social benefits, including the traffic system efficiency and safety, as…
Autonomous agents must be able to safely interact with other vehicles to integrate into urban environments. The safety of these agents is dependent on their ability to predict collisions with other vehicles' future trajectories for…
Intersection is one of the most complex and accident-prone urban scenarios for autonomous driving wherein making safe and computationally efficient decisions is non-trivial. Current research mainly focuses on the simplified traffic…
Finding a free parking space in a city has become a challenging task over the past decades. A recently proposed auction-based parking assignment can alleviate cruising for parking and also set a market-driven, demand-responsive parking…
With the emergence of autonomous ground vehicles and the recent advancements in Intelligent Transportation Systems, Autonomous Traffic Management has garnered more and more attention. Autonomous Intersection Management (AIM), also known as…
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…
We propose a separation principle that enables a systematic way of designing decentralized algorithms used in consensus optimization. Specifically, we show that a decentralized optimization algorithm can be constructed by combining a…
Connected and automated vehicles (CAVs) provide the most intriguing opportunity to optimize energy consumption and travel time. Several approaches have been proposed in the literature that allow CAVs to coordinate in situations where there…