Related papers: A Graph-based Conflict-free Cooperation Method for…
Navigation and guidance of autonomous vehicles is a fundamental problem in robotics, which has attracted intensive research in recent decades. This report is mainly concerned with provable collision avoidance of multiple autonomous vehicles…
A macroscopic model is proposed to depict the traffic dynamics involved in urban traffic systems. The link dynamics are described based on the cell-transmission model and bounded by the link capacities, while the flow dynamics are proposed…
We have developed a modified Nagel-Schreckenberg cellular automata model for describing a conflicting vehicular traffic flow at the intersection of two streets. No traffic lights control the traffic flow. The approaching cars to the…
In this paper, the problem of joint communication and sensing is studied in the context of terahertz (THz) vehicular networks. In the studied model, a set of service provider vehicles (SPVs) provide either communication service or sensing…
This paper proposes a novel approach to integrate optimal control of perimeter intersections (i.e. to minimize local delay) into the perimeter control scheme (i.e. to optimize traffic performance at the network level). This is a complex…
In this paper, we introduce a graph matching method that can account for constraints of arbitrary order, with arbitrary potential functions. Unlike previous decomposition approaches that rely on the graph structures, we introduce a…
The trend in the development of highly automated vehicles goes towards scenario-based methods. Traffic Sequence Charts are a visual but yet formal language for describing scenario-based requirements on highly automated vehicles. This work…
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…
We propose a model for the intersection of two urban streets. The traffic status of the crossroads is controlled by a set of traffic lights which periodically switch to red and green with a total period of T. Two different types of…
The graph identification problem consists of discovering the interactions among nodes in a network given their state/feature trajectories. This problem is challenging because the behavior of a node is coupled to all the other nodes by the…
Graph comparison deals with identifying similarities and dissimilarities between graphs. A major obstacle is the unknown alignment of graphs, as well as the lack of accurate and inexpensive comparison metrics. In this work we introduce the…
Automated guided vehicles (AGVs) are widely used in various industries, and scheduling and routing them in a conflict-free manner is crucial to their efficient operation. We propose a loop-based algorithm that solves the online,…
This paper proposes collision-free optimal trajectory planning for autonomous vehicles in highway traffic, where vehicles need to deal with the interaction among each other. To address this issue, a novel optimal control framework is…
Trajectory planning for connected and automated vehicles (CAVs) has the potential to improve operational efficiency and vehicle fuel economy in traffic systems. Despite abundant studies in this research area, most of them only consider…
We consider the following problem: Given an undirected (mixed) network and a set of ordered source-target, or cause-effect pairs, direct all edges so as to maximize the number of pairs that admit a directed source-target path. This is…
Conflict-Based Search is one of the most popular methods for multi-agent path finding. Though it is complete and optimal, it does not scale well. Recent works have been proposed to accelerate it by introducing various heuristics. However,…
This paper considers an unsignalized intersection used by two traffic streams. A stream of cars is using a primary road, and has priority over the other, low-priority, stream. Cars belonging to the latter stream cross the primary road if…
In addition to enhancing traffic safety and facilitating prompt emergency response, traffic incident detection plays an indispensable role in intelligent transportation systems by providing real-time traffic status information. This enables…
Motion prediction for automated vehicles in complex environments is a difficult task that is to be mastered when automated vehicles are to be used in arbitrary situations. Many factors influence the future motion of traffic participants…
Predicting future trajectories of surrounding obstacles is a crucial task for autonomous driving cars to achieve a high degree of road safety. There are several challenges in trajectory prediction in real-world traffic scenarios, including…