Related papers: Secure Platooning of Autonomous Vehicles Under Att…
In the absence of an absolute positioning system, such as GPS, autonomous vehicles are subject to accumulation of positional error which can interfere with reliable performance. Improved navigational accuracy without GPS enables vehicles to…
We investigate the possibility to use macroscopic information to improve control performance of a vehicular platoon composed of autonomous vehicles. A general mesoscopic traffic modeling is described, and a closed loop String Stability…
Motion prediction of surrounding vehicles is one of the most important tasks handled by a self-driving vehicle, and represents a critical step in the autonomous system necessary to ensure safety for all the involved traffic actors. Recently…
This paper studies the problem of designing a certified vision-based state estimator for autonomous landing systems. In such a system, a neural network (NN) processes images from a camera to estimate the aircraft relative position with…
In this paper, we develop an uncertainty-aware decision-making and motion-planning method for an autonomous ego vehicle in forced merging scenarios, considering the motion uncertainty of surrounding vehicles. The method dynamically captures…
The goal of autonomous vehicles is to navigate public roads safely and comfortably. To enforce safety, traditional planning approaches rely on handcrafted rules to generate trajectories. Machine learning-based systems, on the other hand,…
Vehicle-to-everything (V2X) communication is expected to be a prominent component of the sixth generation (6G) to accomplish intelligent transportation systems (ITS). Autonomous vehicles relying only on onboard sensors cannot bypass the…
This paper considers controlling automated vehicles (AVs) to form a platoon with human-driven vehicles (HVs) under consideration of unknown HV model parameters and propulsion time constants. The proposed design is a data-driven dual-loop…
In this paper, we study the internal stability and string stability of a vehicle platoon under the constant time headway spacing (CTHS) policy and the multiple-predecessor-following (MPF) vehicle-to-vehicle information flow topology. More…
This paper investigates the problem of controlling an autonomous agent to simultaneously localize and circumnavigate an unknown stationary target using bearing-only measurements (without explicit differentiation). To improve the convergence…
We study decentralized control strategies for platoons of autonomous vehicles with heterogeneous and nonlinear dynamics. Based on ideas from funnel control, we present a novel decentralized control algorithm which is able to guarantee a…
This work explores a variation of the art gallery problem in which a team of static and mobile guards track a mobile intruder with unknown maximum speed. First, we present an algorithm to identify {\it candidate vertices} in a polygon at…
We present a control approach for autonomous vehicles based on deep reinforcement learning. A neural network agent is trained to map its estimated state to acceleration and steering commands given the objective of reaching a specific target…
Autonomous vehicles should be able to predict the future states of its environment and respond appropriately. Specifically, predicting the behavior of surrounding human drivers is vital for such platforms to share the same road with humans.…
Modern autonomous vehicles adopt state-of-the-art DNN models to interpret the sensor data and perceive the environment. However, DNN models are vulnerable to different types of adversarial attacks, which pose significant risks to the…
Autonomous Vehicles (AVs) are prone to revolutionise the transportation industry. However, they must be thoroughly tested to avoid safety violations. Simulation testing plays a crucial role in finding safety violations of Automated Driving…
Trajectory prediction is a critical component for autonomous vehicles (AVs) to perform safe planning and navigation. However, few studies have analyzed the adversarial robustness of trajectory prediction or investigated whether the…
In this paper, we present a proof of concept for adversarially attacking the image-based localization module of an autonomous vehicle. This attack aims to cause the vehicle to perform a wrong navigational decisions and prevent it from…
This paper considers coordination of platoons of connected and autonomous vehicles (CAVs) at mixed-autonomy bottlenecks in the face of three practically important factors, viz. time-varying traffic demand, random CAV platoon sizes, and…
Countries with access to large bodies of water often aim to protect their maritime transport by employing maritime surveillance systems. However, the number of available sensors (e.g., cameras) is typically small compared to the…