Related papers: PAIM: Platoon-based Autonomous Intersection Manage…

This paper describes a resilient navigation and planning system used in the Indy Autonomous Challenge (IAC) competition. The IAC is a competition where full-scale race cars run autonomously on Indianapolis Motor Speedway(IMS) up to 290 km/h…

Connected and autonomous vehicles (CAVs), unlike conventional cars, will utilise the whole space of intersections and cross in a lane-free order. This paper formulates such a lane-free crossing of intersections as a multi-objective optimal…

This paper presents an integrated motion planning system for autonomous vehicle (AV) parking in the presence of other moving vehicles. The proposed system includes 1) a hybrid environment predictor that predicts the motions of the…

In this paper, we propose a conflict-free multi- agent flight scheduling that ensures robust separation in con- strained airspace for Urban Air Mobility (UAM) operations application. First, we introduce Pairwise Conflict Avoidance (PCA)…

In this paper we propose a distributed model predictive control architecture to coordinate the longitudinal motion of a vehicle platoon at a signalized intersection. Our control approach is cooperative; we use vehicle-to-vehicle (V2V)…

We propose a Stochastic MPC (SMPC) formulation for autonomous driving at traffic intersections which incorporates multi-modal predictions of surrounding vehicles for collision avoidance constraints. The multi-modal predictions are obtained…

Ensuring safety for spacecraft operations has become a paramount concern due to the proliferation of space debris and the saturation of valuable orbital regimes. In this regard, the Collision Avoidance Manoeuvre (CAM) has emerged as a…

Autonomous vehicles (AVs) must share the driving space with other drivers and often employ conservative motion planning strategies to ensure safety. These conservative strategies can negatively impact AV's performance and significantly slow…

This paper proposes a path planning algorithm for autonomous vehicles, evaluating collision severity with respect to both static and dynamic obstacles. A collision severity map is generated from ratings, quantifying the severity of…

Most recent studies on establishing intersection safety focus on the situation where all vehicles are fully autonomous. However, currently most vehicles are human-driven and so we will need to transition through regimes featuring a varying…

Connected and automated vehicles (CAVs) can alleviate traffic congestion, air pollution, and improve safety. In this paper, we provide a decentralized coordination framework for CAVs at a signal-free intersection to minimize travel time and…

In earlier work, a decentralized optimal control framework was established for coordinating online connected and automated vehicles (CAVs) at urban intersections. The policy designating the sequence that each CAV crosses the intersection,…

To achieve complete autonomous vehicles, it is crucial for autonomous vehicles to communicate and interact with their surrounding vehicles. Especially, since the lane change scenarios do not have traffic signals and traffic rules, the…

This paper presents a novel AI-based smart traffic management system de-signed to optimize traffic flow and reduce congestion in urban environments. By analysing live footage from existing CCTV cameras, this approach eliminates the need for…

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…

Trajectory planning for autonomous driving is challenging because the unknown future motion of traffic participants must be accounted for, yielding large uncertainty. Stochastic Model Predictive Control (SMPC)-based planners provide…

We address the traffic light control problem for multiple intersections in tandem by viewing it as a stochastic hybrid system and developing a Stochastic Flow Model (SFM) for it. Using Infinitesimal Perturbation Analysis (IPA), we derive…

With the emerging connected-vehicle technologies and smart roads, the need for intelligent adaptive traffic signal controls is more than ever before. This paper proposes a novel Economic-driven Adaptive Traffic Signal Control (eATSC) model…

As Intelligent Transportation System (ITS) develops, Connected and Automated Vehicles (CAVs) are expected to significantly reduce traffic congestion through cooperative strategies, such as in bottleneck areas. However, the uncertainty and…

Recently, researchers have proposed various autonomous intersection management techniques that enable autonomous vehicles to cross the intersection without traffic lights or stop signs. In particular, a priority-based coordination system…