Related papers: Cooperative Driving at Unsignalized Intersections …
One of the most critical applications undertaken by coalitions of Unmanned Aerial Vehicles (UAVs) and Unmanned Ground Vehicles (UGVs) is reaching predefined targets by following the most time-efficient routes while avoiding collisions.…
Autonomous vehicles use 3D sensors for perception. Cooperative perception enables vehicles to share sensor readings with each other to improve safety. Prior work in cooperative perception scales poorly even with infrastructure support.…
Connected and automated vehicles (CAVs) offer huge potential to improve the performance of automated vehicles (AVs) without communication capabilities, especially in situations when the vehicles (or agents) need to be cooperative to…
This paper studies a heterogeneous Unmanned Aerial Vehicles (UAVs) cooperative search approach suitable for complex environments. In the application, a fixed-wing UAV drops rotor UAVs to deploy the cluster rapidly. Meanwhile, the fixed-wing…
Safe and smooth interacting with other vehicles is one of the ultimate goals of driving automation. However, recent reports of demonstrative deployments of automated vehicles (AVs) indicate that AVs are still difficult to meet the…
In horizontal collaborations, carriers form coalitions in order to perform parts of their logistics operations jointly. By exchanging transportation requests among each other, they can operate more efficiently and in a more sustainable way.…
Unsignalized intersection driving is challenging for automated vehicles. For safe and efficient performances, the diverse and dynamic behaviors of interacting vehicles should be considered. Based on a game-theoretic framework, a human-like…
This paper addresses the traffic management problem for autonomous vehicles at intersections without traffic signals. In the current system, a road junction has no traffic signals when the traffic volume is low to medium. Installing…
Many robotic tasks, such as inverse kinematics, motion planning, and optimal control, can be formulated as optimization problems. Solving these problems involves addressing nonlinear kinematics, complex contact dynamics, long-horizon…
Cooperative Adaptive Cruise Control (CACC) is an autonomous vehicle-following technology that allows groups of vehicles on the highway to form in tightly-coupled platoons. This is accomplished by exchanging inter-vehicle data through…
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, enabled by communication between automated vehicle systems, promises significant benefits to fuel efficiency, road capacity, and safety over single-vehicle driver assistance systems such as adaptive cruise control…
Automated vehicles, or AVs (i.e. those that have the ability to operate without a driver and can communicate with the infrastructure) may transform the transportation system. This study develops and simulates an algorithm that can optimize…
Monte Carlo Tree Search (MCTS) is a powerful approach to designing game-playing bots or solving sequential decision problems. The method relies on intelligent tree search that balances exploration and exploitation. MCTS performs random…
Cooperation among the traffic signals enables vehicles to move through intersections more quickly. Conventional transportation approaches implement cooperation by pre-calculating the offsets between two intersections. Such pre-calculated…
Earlier work has established a decentralized framework of optimally controlling connected and automated vehicles (CAVs) crossing an urban intersection without using explicit traffic signaling. The proposed solution is capable of minimizing…
The emergence of Connected and Automated Vehicles (CAVs) promises better traffic mobility for future transportation systems. Existing research mostly focused on fully-autonomous scenarios, while the potential of CAV control at a mixed…
Connected and automated vehicles (CAVs) have the potential to address the safety, mobility and sustainability issues of our current transportation systems. Cooperative adaptive cruise control (CACC), for example, is one promising technology…
We propose a novel methodology for robotic follow-ahead applications that address the critical challenge of obstacle and occlusion avoidance. Our approach effectively navigates the robot while ensuring avoidance of collisions and occlusions…
Autonomous vehicles have to navigate the surrounding environment with partial observability of other objects sharing the road. Sources of uncertainty in autonomous vehicle measurements include sensor fusion errors, limited sensor range due…