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Electrifying heavy-duty trucks offers a substantial opportunity to curtail carbon emissions, advancing toward a carbon-neutral future. However, the inherent challenges of limited battery energy and the sheer weight of heavy-duty trucks lead…
We have carried out car-following experiments with a 25-car-platoon on an open road section to study the relation between a car's speed and its spacing under various traffic conditions, in the hope to resolve a controversy surrounding this…
Time-optimal trajectories drive quadrotors to their dynamic limits, but computing such trajectories involves solving non-convex problems via iterative nonlinear optimization, making them prohibitively costly for real-time applications. In…
This paper investigates the problem of ecological driving (eco-driving) of vehicle platoons. To reduce the probability of the platoon avoiding red lights and increase fuel efficiency, a two-layer control architecture is proposed. The first…
In this paper we propose a distributed model predictive control architecture to coordinate the longitudinal motion of a vehicle platoon at a signalized intersection. Our control approach is cooperative; we use vehicle-to-vehicle (V2V)…
Autonomous trucking has progressed rapidly in recent years, transitioning from early demonstrations to OEM-integrated commercial deployments. However, fully driverless freight operations across heterogeneous climates, infrastructure…
Less-than-truckload (LTL) shipment is vital in modern freight transportation yet is in dire need of more efficient usage of resources, higher service responsiveness and velocity, lower overall shipping cost across all parties, and better…
We present a queuing model of parking dynamics and a model-based prediction method to provide real-time probabilistic forecasts of future parking occupancy. The queuing model has a non-homogeneous arrival rate and time-varying service time…
Travel time on a route varies substantially by time of day and from day to day. It is critical to understand to what extent this variation is correlated with various factors, such as weather, incidents, events or travel demand level in the…
The logistics industry in Japan is facing a severe shortage of labor. Therefore, there is an increasing need for joint transportation allowing large amounts of cargo to be transported using fewer trucks. In recent years, the use of…
Connected Automated Vehicles (CAVs) bring promise of increasing traffic capacity and energy efficiency by forming platoons with short headways on the road. However at low CAV penetration, the capacity gain will be small because the CAVs…
In recent years, significant achievements have been made in motion planning for intelligent vehicles. However, as a typical unstructured environment, open-pit mining attracts limited attention due to its complex operational conditions and…
In this paper, we address the problem of coordinating platoons of connected and automated vehicles at signal-free intersections. We present a decentralized, two-level optimal framework to coordinate the platoons with the objective to…
The vision of automated driving is to increase both road safety and efficiency, while offering passengers a convenient travel experience. This requires that autonomous systems correctly estimate the current traffic scene and its likely…
This paper presents an optimization-based receding horizon trajectory planning algorithm for dynamical systems operating in unstructured and cluttered environments. The proposed approach is a two-step procedure that uses a motion planning…
Efficient coordination and planning is essential for large-scale multi-agent systems that collaborate in a shared dynamic environment. Heuristic search methods or learning-based approaches often lack the guarantee on correctness and…
Collision avoidance in unknown obstacle-cluttered environments may not always be feasible. This paper focuses on an emerging paradigm shift in which potential collisions with the environment can be harnessed instead of being avoided…
Most optimal routing problems focus on minimizing travel time or distance traveled. Oftentimes, a more useful objective is to maximize the probability of on-time arrival, which requires statistical distributions of travel times, rather than…
Fast, autonomous flight in unstructured, cluttered environments such as forests is challenging because it requires the robot to compute new plans in realtime on a computationally-constrained platform. In this paper, we enable this…
In order to ensure efficient flow of goods in an automated warehouse and to guarantee its continuous distribution to/from picking stations in an effective way, decisions about which goods will be delivered to which particular picking…