Related papers: Coordinating Dynamical Routes with Statistical Phy…
In this paper, we present a motion planning framework for multi-modal vehicle dynamics. Our proposed algorithm employs transcription of the optimization objective function, vehicle dynamics, and state and control constraints into sparse…
In the real-time decision-making and local planning process of autonomous vehicles in dynamic environments, the autonomous driving system may fail to find a reasonable policy or even gets trapped in some situation due to the complexity of…
We consider the problem of cooperative intersection management. It arises in automated transportation systems for people or goods but also in multi-robots environment. Therefore many solutions have been proposed to avoid collisions. The…
Graphs naturally appear in several real-world contexts including social networks, the web network, and telecommunication networks. While the analysis and the understanding of graph structures have been a central area of study in algorithm…
Unmanned Aerial Vehicle (UAV) technology is a promising solution for providing high-quality mobile services to ground users, where a UAV with limited service coverage travels among multiple geographical user locations (e.g., hotspots) for…
Recently, there has been an explosion of work on network routing in hostile environments. Hostile environments tend to be dynamic, and the motivation for this work stems from the scenario of IED placements by insurgents in a logistical…
In this paper, we investigate the dynamic emergence of traffic order in a distributed multi-agent system, aiming to minimize inefficiencies that stem from unnecessary structural impositions. We introduce a methodology for developing a…
Given the spatial heterogeneity of land use patterns in most cities, large-scale UAM deployments will likely focus on specific areas, such as intertransfer traffic between suburbs and city centers. However, large-scale UAM operations…
We study real-time routing policies in smart transit systems, where the platform has a combination of cars and high-capacity vehicles (e.g., buses or shuttles) and seeks to serve a set of incoming trip requests. The platform can use its…
We present a framework wherein the trajectory optimization problem (or a problem involving calculus of variations) is formulated as a search problem in a discrete space. A distinctive feature of our work is the treatment of discretization…
Trained humans exhibit highly agile spatial skills, enabling them to operate vehicles with complex dynamics in demanding tasks and conditions. Prior work shows that humans achieve this performance by using strategies such as satisficing,…
We study dynamical transportation networks in a framework that includes extensions of the classical Cell Transmission Model to arbitrary network topologies. The dynamics are modeled as systems of ordinary differential equations describing…
This paper introduces a real-time algorithm for navigating complex unknown environments cluttered with movable obstacles. Our algorithm achieves fast, adaptable routing by actively attempting to manipulate obstacles during path planning and…
Real-time dynamic path planning in complex traffic environments presents challenges, such as varying traffic volumes and signal wait times. Traditional static routing algorithms like Dijkstra and A* compute shortest paths but often fail…
Coordination of movement and configuration in robotic swarms is a challenging endeavor. Deciding when and where each individual robot must move is a computationally complex problem. The challenge is further exacerbated by difficulties…
This paper proposes a simplified version of classical models for urban transportation networks, and studies the problem of controlling intersections with the goal of optimizing network-wide congestion. Differently from traditional…
Shortest path queries over graphs are usually considered as isolated tasks, where the goal is to return the shortest path for each individual query. In practice, however, such queries are typically part of a system (e.g., a road network)…
Traffic simulation models have long been popular in modern traffic planning and operation applications. Efficient calibration of simulation models is usually a crucial step in a simulation study. However, traditional calibration procedures…
We study discrete-time finite-horizon optimal control problems in probability spaces, whereby the state of the system is a probability measure. We show that, in many instances, the solution of dynamic programming in probability spaces…
Travel time estimation is an important component in modern transportation applications. The state of the art techniques for travel time estimation use GPS traces to learn the weights of a road network, often modeled as a directed graph,…