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Testing marine robotics systems in controlled environments before field tests is challenging, especially when acoustic-based sensors and control surfaces only function properly underwater. Deploying robots in indoor tanks and pools often…
Connected and automated vehicles (CAVs) provide the most intriguing opportunity to reduce energy consumption and travel delays. In this paper, we propose a two-level control architecture for CAVs to optimize (1) the vehicle's speed profile,…
This study addresses the optimisation of task allocation for Unmanned Aerial Vehicles (UAVs) within industrial monitoring missions. The proposed methodology integrates a Genetic Algorithms (GA) with a 2-Opt local search technique to obtain…
Autonomous driving evaluation requires simulation environments that closely replicate actual road conditions, including real-world sensory data and responsive feedback loops. However, many existing simulations need to predict waypoints…
While perception systems in Connected and Autonomous Vehicles (CAVs), which encompass both communication technologies and advanced sensors, promise to significantly reduce human driving errors, they also expose CAVs to various cyberattacks.…
Software-in-the-loop (SIL) simulation is a widely used method for the rapid development and testing of autonomous vehicles because of its flexibility and efficiency. This paper presents a case study on the validation of an in-house…
Automated vehicles (AVs) are expected to increase traffic safety and traffic efficiency, among others by enabling flexible mobility-on-demand systems. This is particularly important in Singapore, being one of the world's most densely…
Large steps are being taken by the industry and R&D organizations in automated driving technology development, as well as in setting up appropriate scenario-based safety assessment methods. In this paper a concept framework is proposed for…
Scenario-based testing for automated driving systems (ADS) must be able to simulate traffic scenarios that rely on interactions with other vehicles. Although many languages for high-level scenario modelling have been proposed, they lack the…
Safe deployment of self-driving cars (SDC) necessitates thorough simulated and in-field testing. Most testing techniques consider virtualized SDCs within a simulation environment, whereas less effort has been directed towards assessing…
This paper introduces a comprehensive approach to optimize parking efficiency for connected and Automated vehicle (CAVs) fleets. We present a multi-vehicle parking simulator, equipped with hierarchical path planning and collision avoidance…
Vehicle-to-vehicle (V2V) communication is a key component of the future autonomous driving systems. V2V can provide an improved awareness of the surrounding environment, and the knowledge about the future actions of nearby vehicles.…
A modern vehicle contains many electronic control units (ECUs), which communicate with each other through the in-vehicle network to ensure vehicle safety and performance. Emerging Connected and Automated Vehicles (CAVs) will have more ECUs…
Connected and automated vehicles (CAVs) have the potential to enhance driving safety, for example by enabling safe vehicle following and more efficient traffic scheduling. For such future deployments, safety requirements should be…
Testing autonomous vehicles in simulation environments is crucial. Sim-ATAV is an open-source framework developed for experimenting with different test generation techniques in simulation environments for research purposes. This document…
In this paper, we propose a design for novel and experimental cloud computing systems. The proposed system aims at enhancing computational, communicational and annalistic capabilities of road navigation services by merging several…
In-vehicle communication technologies are evolving. While today's cars are equipped with fieldbusses to interconnect the various electronic control units, next generation vehicles have timing and bandwidth requirements that exceed the…
In this study, we propose a rotation-based connected automated vehicle (CAV) distributed cooperative control strategy for an on-ramp merging scenario. By assuming the mainline and ramp line are straight, we firstly design a virtual rotation…
In recent years, considerable progress has been made towards a vehicle's ability to operate autonomously. An end-to-end approach attempts to achieve autonomous driving using a single, comprehensive software component. Recent breakthroughs…
The design and development of a complex system requires an adequate methodology and efficient instrumental support in order to early detect and correct anomalies in the functional and non-functional properties of the tested protocols. Among…