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This paper addresses the problem of planning time-optimal trajectories for multiple cooperative agents along specified paths through a static road network. Vehicle interactions at intersections create non-trivial decisions, with complex…
We study the problem of visual surface inspection of a bridge for defects using an Unmanned Aerial Vehicle (UAV). We do not assume that the geometric model of the bridge is known beforehand. Our planner, termed GATSBI, plans a path in a…
In this paper, we introduce a temporal logic-based safety filter for Autonomous Intersection Management (AIM), an emerging infrastructure technology for connected vehicles to coordinate traffic flow through intersections. Despite…
In this paper, we present MASTISK (MAchine-learning and Synaptic-plasticity Technology Integrated Simulation frameworK). MASTISK is an open-source versatile and flexible tool developed in MATLAB for design exploration of dedicated…
This study presents a vehicle-level distributed coordination strategy to control a mixed traffic stream of connected automated vehicles (CAVs) and connected human-driven vehicles (CHVs) through signalized intersections. We use CAVs as…
Significant challenges are posed by simulation and testing in the field of low-altitude unmanned aerial vehicle (UAV) traffic due to the high costs associated with large-scale UAV testing and the complexity of establishing low-altitude…
Just-in-time (JIT) compilers are used by many modern programming systems in order to improve performance. Bugs in JIT compilers provide exploitable security vulnerabilities and debugging them is difficult as they are large, complex, and…
The widespread diffusion of compute-intensive edge-AI workloads and the stringent demands of modern autonomous systems require advanced heterogeneous embedded architectures. Such architectures must support high-performance and reliable…
In this paper, we introduce VisioPath, a novel framework combining vision-language models (VLMs) with model predictive control (MPC) to enable safe autonomous driving in dynamic traffic environments. The proposed approach leverages a…
Constructing precise 3D maps is crucial for the development of future map-based systems such as self-driving and navigation. However, generating these maps in complex environments, such as multi-level parking garages or shopping malls,…
We present a parallelized differentiable traffic simulator based on the Intelligent Driver Model (IDM), a car-following framework that incorporates driver behavior as key variables. Our vehicle simulator efficiently models vehicle motion,…
This paper implements a traffic signal control system by using real-time traffic flow feedback. This system is designed to deal with two-lane intersections. We construct an experiment field similar to the roads and drivers in Taiwan using…
Unlike most existing studies on off-ramp traffic signal control, this paper focuses on the optimization problem of the signalized intersection connected to freeway on-ramps. Conflicts are often observed between the traffic heading to an…
Background and Objective: Computational ultrasound imaging has become a well-established methodology in the ultrasound community. Simulations of ultrasound sequences and images allow the study of innovative techniques in terms of emission…
This paper presents an open-source Software-in-the-Loop (SIL) simulation platform designed for autonomous Ackerman vehicle research and education. The proposed framework focuses on simplicity, while making it easy to work with small-scale…
Accurate traffic forecasting is challenging due to the complex dependency on road networks, various types of roads, and the abrupt speed change due to the events. Recent works mainly focus on dynamic spatial modeling with adaptive graph…
Developments in sensor technologies, especially emerging connected and autonomous vehicles, facilitate better queue length (QL) measurements on signalized intersection approaches in real time. Currently there are very limited methods that…
We introduce an open-source system called SIGMA (short for "Situated Interactive Guidance, Monitoring, and Assistance") as a platform for conducting research on task-assistive agents in mixed-reality scenarios. The system leverages the…
Designing and evaluating in-vehicle interfaces requires experimental platforms that combine ecological validity with experimental control. Driving simulators are widely used for this purpose. However, they face a fundamental trade-off:…
Distributed as an open source library since 2013, RTAB-Map started as an appearance-based loop closure detection approach with memory management to deal with large-scale and long-term online operation. It then grew to implement Simultaneous…