Related papers: A Distributed Pipeline for Scalable, Deconflicted …

Fully decentralized, multiagent trajectory planners enable complex tasks like search and rescue or package delivery by ensuring safe navigation in unknown environments. However, deconflicting trajectories with other agents and ensuring…

Centralized trajectory optimization in the joint space of multiple robots allows access to a larger feasible space that can result in smoother trajectories, especially while planning in tight spaces. Unfortunately, it is often…

Occlusion-aware prediction remains a critical challenge in autonomous driving due to the inherent uncertainty of unobserved regions. Existing approaches either overestimate risk based on reachable states or struggle to predict accurate…

This paper considers the problem of coordinating the vehicular traffic at an intersection and on the branches leading to it for minimizing a combination of total travel time and energy consumption. We propose a provably safe…

Developing the flocking behavior for a dynamic squad of fixed-wing UAVs is still a challenge due to kinematic complexity and environmental uncertainty. In this paper, we deal with the decentralized flocking and collision avoidance problem…

This paper presents a decentralized hybrid supervisory control approach for a team of unmanned helicopters that are involved in a leader-follower formation mission. Using a polar partitioning technique, the motion dynamics of the follower…

Multiple fixed-wing unmanned aerial vehicles (multi-UAVs) encounter significant challenges in cooperative path following over complex Digital Elevation Model (DEM) low-altitude airspace, including wind field disturbances, sudden obstacles,…

Machine Learning has proven useful in the recent years as a way to achieve failure prediction for industrial systems. However, the high computational resources necessary to run learning algorithms are an obstacle to its widespread…

This paper proposes a decentralized trajectory planning framework for the collision avoidance problem of multiple micro aerial vehicles (MAVs) in environments with static and dynamic obstacles. The framework utilizes spatiotemporal…

In this letter, an integrated task planning and reactive motion planning framework termed Multi-FLEX is presented that targets real-world, industrial multi-robot applications. Reactive motion planning has been attractive for the purposes of…

In this letter, we consider the problem of decentralized decision making among connected autonomous vehicles at unsignalized intersections, where existing centralized approaches do not scale gracefully under mixed maneuver intentions and…

Satellite constellation missions, consisting of a large number of spacecraft, are increasingly being launched or planned. Such missions require novel control approaches, in particular for what concerns orbital phasing maneuvers. In this…

We address the problem of optimally controlling Connected and Automated Vehicles (CAVs) arriving from four multi-lane roads at an intersection where they conflict in terms of safely crossing (including turns) with no collision. The…

Motion planning at urban intersections that accounts for the situation context, handles occlusions, and deals with measurement and prediction uncertainty is a major challenge on the way to urban automated driving. In this work, we address…

Decentralized optimization methods enable on-device training of machine learning models without a central coordinator. In many scenarios communication between devices is energy demanding and time consuming and forms the bottleneck of the…

This paper considers a crowdsourced delivery (CSD) system that effectively utilizes the existing trips to fulfill parcel delivery as a matching problem between CSD drivers and delivery tasks. This matching problem has two major challenges.…

In part II, we present a fully distributed nonlinear variable time headway space strategy to ensure the subsequent safe cruising and junction crossing, where the cooperative perception of multiple neighbors stimuli and the cooperative…

Multicopter swarms with decentralized structure possess the nature of flexibility and robustness, while efficient spatial-temporal trajectory planning still remains a challenge. This report introduces decentralized spatial-temporal…

Clustering, as a technique for grouping nodes in geographical proximity together, in vehicular communication networks, is a key technique to enhance network robustness and scalability despite challenges such as mobility and routing. This…

Distributed fog and edge applications communicate over unreliable networks and are subject to high communication delays. This makes using existing distributed coordination technologies from cloud applications infeasible, as they are built…