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This work presents a distributed method for multi-vehicle coordination based on nonlinear model predictive control (NMPC) and dual decomposition. Our approach allows the vehicles to coordinate in tight spaces (e.g., busy highway lanes or…
This paper introduces a novel control framework to address the satisfaction of multiple time-varying output constraints in uncertain high-order MIMO nonlinear control systems. Unlike existing methods, which often assume that the constraints…
The capability of mobile devices to use multiple interfaces to support a single session is becoming more prevalent. Prime examples include the desire to implement WiFi offloading and the introduction of 5G. Furthermore, an increasing…
The downlink transmission in multi-user multiple-input multiple-output (MIMO) systems has been extensively studied from both communication-theoretic and information-theoretic perspectives. Most of these papers assume perfect/imperfect…
Cyber-physical systems, such as mobile robots, must respond adaptively to dynamic operating conditions. Effective operation of these systems requires that sensing and actuation tasks are performed in a timely manner. Additionally, execution…
General-purpose trajectory planning algorithms for automated driving utilize complex reward functions to perform a combined optimization of strategic, behavioral, and kinematic features. The specification and tuning of a single reward…
In this paper, we focus on the performance analysis of a semi-persistent scheduling scheme for vehicular safety communications, motivated by the Mode 4 medium access control protocol in 3GPP Release 14 for Cellular-V2X. An analytical model…
Resource allocation has a direct and profound impact on the performance of vehicle-to-everything (V2X) networks. Considering the dynamic nature of vehicular environments, it is appealing to devise a decentralized strategy to perform…
With the recent influx in demand for multi-robot systems throughout industry and academia, there is an increasing need for faster, robust, and generalizable path planning algorithms. Similarly, given the inherent connection between control…
Multi-conflict traffic is ubiquitous. Connected Automated Vehicles (CAVs) offer unprecedented opportunities to enhance safety, reduce emissions, and increase throughput through precise coordination and automation. However, existing CAV…
Vehicle route prediction is one of the significant tasks in vehicles mobility. It is one of the means to reduce the accidents and increase comfort in human life. The task of route prediction becomes simpler with the development of certain…
In the automotive industry, some vehicles, failed vehicles, cannot be produced according to the planned schedule due to some reasons such as material shortage, paint failure, etc. These vehicles are pulled out of the sequence, potentially…
Grid mapping is a fundamental approach to modeling the environment of intelligent vehicles or robots. Compared with object-based environment modeling, grid maps offer the distinct advantage of representing the environment without requiring…
Connected and Autonomous Vehicles (CAVs) require continuous access to sensory data to perform complex high-speed maneuvers and advanced trajectory planning. High priority CAVs are particularly reliant on extended perception horizon…
With the rapid advancement of vehicular communication facilities and autonomous driving technologies, connected vehicle platooning has emerged as a promising approach to improve traffic efficiency and driving safety. Reliable…
Multi-vehicle coordinated motion planning has always been challenged to safely and efficiently resolve conflicts under non-holonomic dynamic constraints. Constructing spatial-temporal corridors for multi-vehicle can decouple the…
In this paper, we propose a new self-triggered formulation of Model Predictive Control for continuous-time linear networked control systems. Our control approach, which aims at reducing the number of transmitting control samples to the…
In decentralized multi-agent deep reinforcement learning (MADRL), communication can help agents to gain a better understanding of the environment to better coordinate their behaviors. Nevertheless, communication may involve uncertainty,…
The present volatile global market is marked by a rising need for extensively tailored products. Flourishing in such an environment necessitates fostering a more intimate connection between market requirements and the manufacturing system,…
Millimeter wave (mmWave) technologies will support the high bandwidth and data rate requirements of V2X services demanded by connected and automated vehicles (CAVs). MmWave V2X technologies will leverage directional antennas that challenge…