Related papers: A Real-Time Optimal Eco-driving for Autonomous Veh…
To improve safety and energy efficiency, autonomous vehicles are expected to drive smoothly in most situations, while maintaining their velocity below a predetermined speed limit. However, some scenarios such as low road adherence or…
Trajectory planning for connected and automated vehicles (CAVs) has the potential to improve operational efficiency and vehicle fuel economy in traffic systems. Despite abundant studies in this research area, most of them only consider…
The traffic flow through a light signal is explored by using the optimal velocity model and its improvement known as full velocity differences model. The simulations consider a single line of identical cars, equally spaced, and with no…
Traffic congestion and collisions represent significant economic, environmental, and social challenges worldwide. Traditional traffic management approaches have shown limited success in addressing these complex, dynamic problems. To address…
The improvement of traffic efficiency at urban intersections receives strong research interest in the field of automated intersection management. So far, mostly non-learning algorithms like reservation or optimization-based ones were…
Overtaking is one of the most challenging tasks in driving, and the current solutions to autonomous overtaking are limited to simple and static scenarios. In this paper, we present a method for behaviour and trajectory planning for safe…
This paper addresses the challenge of generating optimal vehicle flow at the macroscopic level. Although several studies have focused on optimizing vehicle flow, little attention has been given to ensuring it can be practically achieved. To…
In autonomous driving, navigation through unsignaled intersections with many traffic participants moving around is a challenging task. To provide a solution to this problem, we propose a novel branched network G-CIL for the navigation…
Navigating through intersections is one of the main challenging tasks for an autonomous vehicle. However, for the majority of intersections regulated by traffic lights, the problem could be solved by a simple rule-based method in which the…
We propose a model for the intersection of two urban streets. The traffic status of the crossroads is controlled by a set of traffic lights which periodically switch to red and green with a total period of T. Two different types of…
The emergence of autonomous vehicles is expected to revolutionize road transportation in the near future. Although large-scale numerical simulations and small-scale experiments have shown promising results, a comprehensive theoretical…
Detecting emergency vehicles arrival on roads has been the focus for many researchers. It is quite important to detect the emergency vehicles (e.g; ambulance) arrival to traffic light to give the green light for it to pass through. Many…
In this paper, we address a problem of safe and efficient intersection crossing traffic management of autonomous and connected ground traffic. Toward this objective, we propose an algorithm that is called the Discrete-time occupancies…
Multi robot systems have the potential to be utilized in a variety of applications. In most of the previous works, the trajectory generation for multi robot systems is implemented in known environments. To overcome that we present an online…
Intersection is a major source of traffic delays and accidents within modern transportation systems. Compared to signalized intersection management, autonomous intersection management (AIM) coordinates the intersection crossing at an…
Recent advances in autonomous vehicle technologies and cellular network speeds motivate developments in vehicle-to-everything (V2X) communications. Enhanced road safety features and improved fuel efficiency are some of the motivations…
Realizing smooth traffic flow is important for achieving carbon neutrality. Adaptive traffic signal control, which considers traffic conditions, has thus attracted attention. However, it is difficult to ensure optimal vehicle flow…
In this paper, we provide a decentralized theoretical framework for coordination of connected and automated vehicles (CAVs) at different traffic scenarios. The framework includes: (1) an upper-level optimization that yields for each CAV its…
Multi-robot systems have begun to permeate into a variety of different fields, but collision-free navigation in a decentralized manner is still an arduous task. Typically, the navigation of high speed multi-robot systems demands replanning…
This paper presents a novel two-level control architecture for a fully autonomous vehicle in a deterministic environment, which can handle traffic rules as specifications and low-level vehicle control with real-time performance. At the top…