Related papers: Cyber-Physical Mobility Lab: An Open-Source Platfo…
Decentralized multi-robot motion planning requires each robot to generate collision-free trajectories from local observations, without global sensing or reliable communication. However, most existing planners, whether classical or…
This paper presents the development of a real-time simulator for the validation of controlling a large vehicle manipulator. The need for this development can be justified by the lack of such a simulator: There are neither open source…
This paper addresses the problem of controlling a continuum manipulator (CM) in free or obstructed environments with no prior knowledge about the deformation behavior of the CM and the stiffness and geometry of the interacting obstructed…
Micromobility, which utilizes lightweight mobile machines moving in urban public spaces, such as delivery robots and mobility scooters, emerges as a promising alternative to vehicular mobility. Current micromobility depends mostly on human…
We proposed a fusion mechanism for the distributed cooperative map matching (CMM) within the vehicular ad-hoc network. This mechanism makes the information from each node reachable within the network by other nodes without direct…
Autonomous vehicles, on the ground and in the air, are the next big evolution in human mobility. While autonomous driving in highway scenarios is already possible using only the vehicles sensors, the complex scenarios of big cities with all…
Robots are increasingly operating in indoor environments designed for and shared with people. However, robots working safely and autonomously in uneven and unstructured environments still face great challenges. Many modern indoor…
Cooperative Driving Automation (CDA) has garnered increasing research attention, yet the role of intelligent infrastructure remains insufficiently explored. Existing solutions offer limited support for addressing long-tail challenges,…
Collecting data online via crowdsourcing platforms has proven to be a very efficient way to recruit a large and diverse sample. Studies of motor learning, however, have been largely confined to the lab due to the need for special equipment…
Rapid transit of emergency vehicles is critical for saving lives and reducing property loss but often relies on surrounding ordinary vehicles to cooperatively adjust their driving behaviors. It is important to ensure rapid transit of…
Future mobility systems and their components are increasingly defined by their software. The complexity of these cooperative intelligent transport systems (C-ITS) and the everchanging requirements posed at the software require continual…
Novel use cases and verticals such as connected cars and human-robot cooperation in the areas of 5G and Tactile Internet can significantly benefit from the flexibility and reduced latency provided by Network Function Virtualization (NFV)…
We present a control framework that enables humanoid robots to perform collaborative transportation tasks with a human partner. The framework supports both translational and rotational motions, which are fundamental to co-transport…
Understanding and modeling human mobility patterns is crucial for effective transportation planning and urban development. Despite significant advances in mobility research, there remains a critical gap in simulation platforms that allow…
Navigation is an essential capability for mobile robots. In this paper, we propose a generalized yet effective 3M (i.e., multi-robot, multi-scenario, and multi-stage) training framework. We optimize a mapless navigation policy with a robust…
Channel knowledge maps (CKMs) provide a site-specific, location-indexed knowledge base that supports environment-aware communications and sensing in 6G networks. In practical deployments, CKM observations are often noisy and irregular due…
Ensuring the safe and efficient operation of CAVs relies heavily on the software framework used. A software framework needs to ensure real-time properties, reliable communication, and efficient resource utilization. Furthermore, a software…
Testing cloud-controlled intelligent connected vehicles (ICVs) requires simulation environments that faithfully emulate both vehicle behavior and realistic communication latencies. This paper proposes a latency-aware co-simulation platform…
A cooperative intelligent transport system (C-ITS) uses vehicle-to-everything (V2X) technology to make self-driving vehicles safer and more efficient. Current C-ITS applications have mainly focused on real-time information sharing, such as…
Decentralized conflict resolution for autonomous vehicles is needed in many places where a centralized method is not feasible, e.g., parking lots, rural roads, merge lanes, etc. However, existing methods generally do not fully utilize…