Related papers: Digital Quadruplets for Cyber-Physical-Social Syst…

The development and deployment of Autonomous Vehicles (AVs) on our roads is not only realistic in the near future but can also bring significant benefits. In particular, it can potentially solve several problems relating to vehicles and…

We propose a fully distributed control system architecture, amenable to in-vehicle implementation, that aims to safely coordinate connected and automated vehicles (CAVs) at road intersections. For control purposes, we build upon a fully…

This paper introduces our Cyber-Physical Mobility Lab (CPM Lab). It is an open-source development environment for networked and autonomous vehicles with focus on networked decision-making, trajectory planning, and control. The CPM Lab hosts…

Cooperative control of Connected and Autonomous Vehicles (CAVs) promises great benefits for mixed traffic. Most existing research focuses on model-based control strategies, assuming that car-following dynamics of human-driven vehicles are…

This paper investigates the collaboration of multiple connected and automated vehicles (CAVs) in different scenarios. In general, the collaboration of CAVs can be formulated as a nonlinear and nonconvex model predictive control (MPC)…

The steady increase in the number of vehicles operating on the highways continues to exacerbate congestion, accidents, energy consumption, and greenhouse gas emissions. Emerging mobility systems, e.g., connected and automated vehicles…

Simulators are useful tools for testing automated driving controllers. Vehicle-in-the-loop (ViL) tests and digital twins (DTs) are widely used simulation technologies to facilitate the smooth deployment of controllers to physical vehicles.…

The cooperation of connected and automated vehicles (CAVs) has shown great potential in improving traffic efficiency during intersection management. Existing research mainly focuses on intersections where lane changing is prohibited, which…

Autonomous connected vehicles (ACVs) rely on intra-vehicle sensors such as camera and radar as well as inter-vehicle communication to operate effectively. This reliance on cyber components exposes ACVs to cyber and physical attacks in which…

Cooperative adaptive cruise control(CACC) system provides a great promise to significantly reduce traffic congestion while maintaining a high level of safety. Recent years have seen an increase of using formal methods in the analysis and…

Simulation-based testing represents an important step to ensure the reliability of autonomous driving software. In practice, when companies rely on third-party general-purpose simulators, either for in-house or outsourced testing, the…

Automobile has become the dominant transport mode in the world in the last century. In order to meet a continuously growing demand for transport, one solution is to change the control approach for vehicle to full driving automation, which…

Due to the complexity of the natural world, a programmer cannot foresee all possible situations, a connected and autonomous vehicle (CAV) will face during its operation, and hence, CAVs will need to learn to make decisions autonomously. Due…

Cooperative perception enabled by Vehicle-to-Everything communication has shown great promise in enhancing situational awareness for autonomous vehicles and other mobile robotic platforms. Despite recent advances in perception backbones and…

Modeling and evaluation of automated vehicles (AVs) in mixed-autonomy traffic is essential prior to their safe and efficient deployment. This is especially important at urban junctions where complex multi-agent interactions occur. Current…

We present methods and applications for the development of digital twins (DT) for urban traffic management. While the majority of studies on the DT focus on its ``eyes," which is the emerging sensing and perception like object detection and…

This work studies the problem of predicting the sequence of future actions for surround vehicles in real-world driving scenarios. To this aim, we make three main contributions. The first contribution is an automatic method to convert the…

Expert human drivers perform actions relying on traffic laws and their previous experience. While traffic laws are easily embedded into an artificial brain, modeling human complex behaviors which come from past experience is a more…

CHARTOPOLIS is a multi-faceted sociotechnical testbed meant to aid in building connections among engineers, psychologists, anthropologists, ethicists, and artists. Superficially, it is an urban autonomous-vehicle testbed that includes both…

Digital Twin (DT) technologies promise to remove cyber-physical barriers in systems and services and provide seamless management of distributed resources effectively. Ideally, full-fledged instantiations of DT offer bi-directional features…