Related papers: A hybrid controller for safe and efficient collisi…
Highly non-linear vehicle dynamics plays an important role in autonomous driving systems, especially in congested traffic situations at very low speeds. Due to this fact, accurate controllers are needed in order to ensure safety during…
This dissertation proposes two solutions for urban traffic control in the presence of connected and automated vehicles. First a centralized platoon-based controller is proposed for the cooperative intersection management problem that takes…
Recent advances in autonomous vehicle technologies and cellular network speeds motivate developments in vehicle-to-everything (V2X) communications. Enhanced road safety features and improved fuel efficiency are some of the motivations…
We present a numerically tractable formulation for computing the optimal control of the class of hybrid dynamical systems whose trajectories are continuous. Our formulation, an extension of existing relaxed-control techniques for switched…
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…
We propose a hybrid decision-making framework for safe and efficient autonomous driving of selfish vehicles on highways. Specifically, we model the dynamics of each vehicle as a Mixed-Logical-Dynamical system and propose simple driving…
Multiple multirotor Micro Aerial Vehicles sharing the same airspace require a reliable and robust collision avoidance technique. In this paper we address the problem of multi-MAV reactive collision avoidance. A model-based controller is…
The paper proposes a method for the correct by design coordination of autonomous driving systems (ADS). It builds on previous results on collision avoidance policies and the modeling of ADS by combining descriptions of their static…
Hybrid traffic which involves both autonomous and human-driven vehicles would be the norm of the autonomous vehicles practice for a while. On the one hand, unlike autonomous vehicles, human-driven vehicles could exhibit sudden abnormal…
Event-B is a well known methodology for the verified design and development of systems that can be characterised as discrete transition systems. Hybrid Event-B is a conservative extension that interleaves the discrete transitions of Event-B…
A new framework is developed for control of constrained nonlinear systems with structured parametric uncertainties. Forward invariance of a safe set is achieved through online parameter adaptation and data-driven model estimation. The new…
We propose a Model Predictive Control (MPC) for collision avoidance between an autonomous agent and dynamic obstacles with uncertain predictions. The collision avoidance constraints are imposed by enforcing positive distance between convex…
We derive time and energy-optimal control policies for a Connected Autonomous Vehicle (CAV) to complete lane change maneuvers in mixed traffic. The interaction between CAVs and Human-Driven Vehicles (HDVs) requires designing the best…
With the rapid development of autonomous driving, the attention of academia has increasingly focused on the development of anti-collision systems in emergency scenarios, which have a crucial impact on driving safety. While numerous…
A decentralized switched controller is developed for dynamic agents to perform global formation configuration convergence while maintaining network connectivity and avoiding collision within agents and between stationary obstacles, using…
Autonomous driving systems require the ability to fully understand and predict the surrounding environment to make informed decisions in complex scenarios. Recent advancements in learning-based systems have highlighted the importance of…
Evaluating the safety of autonomous vehicles (AVs) requires diverse, safety-critical scenarios, with collisions being especially important yet rare and unsafe to collect in the real world. Therefore, the community has been focusing on…
Ensuring safety in autonomous driving requires a seamless integration of perception and decision making under uncertain conditions. Although computer vision (CV) models such as YOLO achieve high accuracy in detecting traffic signs and…
The full deployment of autonomous driving systems on a worldwide scale requires that the self-driving vehicle be operated in a provably safe manner, i.e., the vehicle must be able to avoid collisions in any possible traffic situation. In…
This paper addresses the problem of safe and efficient navigation in remotely controlled robots operating in hazardous and unstructured environments; or conducting other remote robotic tasks. A shared control method is presented which…