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This paper studies the optimal resource allocation problem within a multi-agent network composed of both autonomous agents and humans. The main challenge lies in the globally coupled constraints that link the decisions of autonomous agents…
Ride-pooling, which accommodates multiple passenger requests in a single trip, has the potential to significantly increase fleet utilization in shared mobility platforms. The ride-pooling assignment problem finds optimal co-riders to…
As the automotive industry is developing autonomous driving systems and vehicular networks, attention to truck platooning has increased as a way to reduce costs (fuel consumption) and improve efficiency in the highway. Recent research in…
We study the dynamics and equilibria of a new kind of routing games, where players - drivers of future autonomous vehicles - may switch between individual (HDV) and collective (CAV) routing. In individual routing, just like today, drivers…
Vehicle platooning with Cooperative Adaptive Cruise Control improves traffic efficiency, reduces energy consumption, and enhances safety but remains vulnerable to cyber-attacks that disrupt communication and cause unsafe actions. To address…
Lane changing and lane merging remains a challenging task for autonomous driving, due to the strong interaction between the controlled vehicle and the uncertain behavior of the surrounding traffic participants. The interaction induces a…
The advent of autonomous driving and electrification is enabling the deployment of Electric Autonomous Mobility-on-Demand (E-AMoD) systems, whereby electric autonomous vehicles provide on-demand mobility. Crucially, the design of the…
The evolution of existing transportation systems,mainly driven by urbanization and increased availability of mobility options, such as private, profit-maximizing ride-hailing companies, calls for tools to reason about their design and…
While motion planning techniques for automated vehicles in a reactive and anticipatory manner are already widely presented, approaches to cooperative motion planning are still remaining. In this paper, we present an approach to enhance…
With the growing penetration of electric trucks, freight transportation is transitioning toward a mixed system comprising both fuel-powered and electric trucks. Enhancing truck platoon formation in such a heterogeneous environment presents…
Platooning of multiple autonomous vehicles has attracted significant attention in both academia and industry. Despite its great potential, platooning is not the only choice for the formation of autonomous vehicles in mixed traffic flow,…
The purpose of this review paper is to present some recent results on the modeling and control of large systems of agents. We focus on particular applications where the agents are capable of independent actions instead of simply reacting to…
Given an initial resource allocation, where some agents may envy others or where a different distribution of resources might lead to higher social welfare, our goal is to improve the allocation without reassigning resources. We consider a…
In the near future, our streets will be populated by myriads of autonomous self-driving vehicles to serve our diverse mobility needs. This will raise the need to coordinate their movements in order to properly handle both access to shared…
In this paper, we study the optimal control of a mixed-autonomy platoon driving on a single lane to smooth traffic flow. The platoon consists of autonomous vehicles, whose acceleration is controlled, and human-driven vehicles, whose…
In this paper we present and analyze a queueing-theoretical model for autonomous mobility-on-demand (MOD) systems where robotic, self-driving vehicles transport customers within an urban environment and rebalance themselves to ensure…
The automation of the driving task affects both the primary driving task and the automotive user interfaces. The liberation of user interface space and cognitive load on the driver allows for new ways to think about driving. Related work…
Recently significant progress has been made in vehicle prediction and planning algorithms for autonomous driving. However, it remains quite challenging for an autonomous vehicle to plan its trajectory in complex scenarios when it is…
Shared mobility redefines urban transportation, offering economic and environmental benefits by reducing pollution and urban congestion. However, in the post-pandemic era, the shared mobility sector is grappling with a crisis of trust,…
For autonomous vehicles, effective behavior planning is crucial to ensure safety of the ego car. In many urban scenarios, it is hard to create sufficiently general heuristic rules, especially for challenging scenarios that some new human…