Related papers: Collision Avoidance in Tightly-Constrained Environ…
Safe overtaking, especially in a bidirectional mixed-traffic setting, remains a key challenge for Connected Autonomous Vehicles (CAVs). The presence of human-driven vehicles (HDVs), behavior unpredictability, and blind spots resulting from…
This work presents a novel framework for the formation control of multiple autonomous ground vehicles in an on-road environment. Unique challenges of this problem lie in 1) the design of collision avoidance strategies with obstacles and…
Reinforcement Learning (RL) is increasingly used in autonomous driving (AD) and shows clear advantages. However, most RL-based AD methods overlook policy structure design. An RL policy that only outputs short-timescale vehicle control…
Generating safe and non-conservative behaviors in dense, dynamic environments remains challenging for automated vehicles due to the stochastic nature of traffic participants' behaviors and their implicit interaction with the ego vehicle.…
Path planning and collision avoidance are challenging in complex and highly variable environments due to the limited horizon of events. In literature, there are multiple model- and learning-based approaches that require significant…
Multi-UAV air combat is a complex task involving multiple autonomous UAVs, an evolving field in both aerospace and artificial intelligence. This paper aims to enhance adversarial performance through collaborative strategies. Previous…
Competent multi-lane cruising requires using lane changes and within-lane maneuvers to achieve good speed and maintain safety. This paper proposes a design for autonomous multi-lane cruising by combining a hierarchical reinforcement…
In earlier work, a decentralized optimal control framework was established for coordinating online connected and automated vehicles (CAVs) in merging roadways, urban intersections, speed reduction zones, and roundabouts. The dynamics of…
Platooning and coordination are two implementation strategies that are frequently proposed for traffic control of connected and autonomous vehicles (CAVs) at signal-free intersections instead of using conventional traffic signals. However,…
In this paper, we propose a trajectory optimization for computing smooth collision free trajectories for nonholonomic curvature bounded vehicles among static and dynamic obstacles. One of the key novelties of our formulation is a hierarchal…
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…
This paper addresses the problem of navigation control of a general class of 2nd order uncertain nonlinear multi-agent systems in a bounded workspace, which is a subset of $R^3$ , with static obstacles. In particular, we propose a…
Contingency planning is the architectural capability that enables autonomous vehicles (AVs) to anticipate and mitigate discrete, high-impact hazards, such as sensor outages and adversarial interactions. This paper presents a comprehensive…
The operational space of an autonomous vehicle (AV) can be diverse and vary significantly. This may lead to a scenario that was not postulated in the design phase. Due to this, formulating a rule based decision maker for selecting maneuvers…
Deriving optimal control strategies for coordination of connected and automated vehicles (CAVs) often requires re-evaluating the strategies in order to respond to unexpected changes in the presence of disturbances and uncertainties. In this…
For a vehicle moving in an $n$-dimensional Euclidean space, we present a construction of a hybrid feedback that guarantees both global asymptotic stabilization of a reference position and avoidance of an obstacle corresponding to a bounded…
This paper develops a novel car-following control method to reduce voluntary driver interventions and improve traffic stability in Automated Vehicles (AVs). Through a combination of experimental and empirical analysis, we show how voluntary…
Connected and autonomous vehicles (CAVs) possess the capability of perception and information broadcasting with other CAVs and connected intersections. Additionally, they exhibit computational abilities and can be controlled strategically,…
In many human-in-the-loop robotic applications such as robot-assisted surgery and remote teleoperation, predicting the intended motion of the human operator may be useful for successful implementation of shared control, guidance virtual…
In order to minimize the impact of lane change (LC) maneuver on surrounding traffic environment, a hierarchical automatic LC algorithm that could realize local optimum has been proposed. This algorithm consists of a tactical layer planner…