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Motion planning is an essential element of the modular architecture of autonomous vehicles, serving as a bridge between upstream perception modules and downstream low-level control signals. Traditional motion planners were initially…
Connected and autonomous vehicles (CAVs) improve the throughput of intersections by crossing in a lane-free order as compared to the signalised crossing of human drivers. However, it is challenging to quantify such an improvement because…
This paper presents DMV-AVP, a distributed simulation of Multi-Vehicle Autonomous Valet Parking (AVP). The system was implemented as an application of the Distributed Multi-Autonomous Vehicle Architecture (DMAVA) for synchronized multi-host…
This study examines how scale economies in the operation of shared autonomous vehicles (SAVs) affect the efficiency of a transportation system where SAVs coexist with normal vehicles (NVs). We develop a bottleneck model where commuters…
Real-world infrastructure planning increasingly involves strategic interactions among autonomous agents competing over congestible, limited resources. Applications such as Electric Vehicle (EV) charging, emergency response, and intelligent…
In this paper, the parking problem of a swarm of mobile robots has been studied. The robots are deployed at the nodes of an infinite grid, which has a subset of prefixed nodes marked as parking nodes. Each parking node p_i has a capacity of…
Recent advancements in connected autonomous vehicle (CAV) technology have sparked growing research interest in lane-free traffic (LFT). LFT envisions a scenario where all vehicles are CAVs, coordinating their movements without lanes to…
Finding an available on-street parking spot is a relevant problem of day-to-day life. In recent years, cities such as Melbourne and San Francisco deployed sensors that provide real-time information about the occupation of parking spots.…
Parking a vehicle in tight spaces is a challenging task to perform due to the scarcity of feasible paths that are also collision-free. This paper presents a strategy to tackle this kind of maneuver with a modified Hybrid-A* path-planning…
This paper considers off-street parking for the cruising vehicles of transportation network companies (TNCs) to reduce the traffic congestion. We propose a novel business that integrates the shared parking service into the TNC platform. In…
In earlier work, a decentralized optimal control framework was established for coordinating online connected and automated vehicles (CAVs) at urban intersections. The policy designating the sequence that each CAV crosses the intersection,…
This paper presents a modeling and design optimization framework for an Electric Autonomous Mobility-on-Demand system that allows for ride-pooling, i.e., multiple users can be transported at the same time towards a similar direction to…
Connected and autonomous vehicles (CAVs) can reduce human errors in traffic accidents, increase road efficiency, and execute various tasks ranging from delivery to smart city surveillance. Reaping these benefits requires CAVs to…
As autonomous vehicles (AVs) inch closer to reality, a central requirement for acceptance will be earning the trust of humans in everyday driving situations. In particular, the interaction between AVs and pedestrians is of high importance,…
In general, there are two kinds of cooperative driving strategies, planning based strategy and ad hoc negotiation based strategy, for connected and automated vehicles (CAVs) merging problems. The planning based strategy aims to find the…
One of the primary challenges in urban autonomous vehicle decision-making and planning lies in effectively managing intricate interactions with diverse traffic participants characterized by unpredictable movement patterns. Additionally,…
In congested urban areas, it remains a pressing challenge to reduce unnecessary vehicle circling for parking while at the same time maximize parking space utilization. In observance of new information technologies that have become readily…
This paper studies the joint fleet sizing and charging system planning problem for a company operating a fleet of autonomous electric vehicles (AEVs) for passenger and goods transportation. Most of the relevant published papers focus on…
Automated vehicles (AVs) are expected to increase traffic safety and traffic efficiency, among others by enabling flexible mobility-on-demand systems. This is particularly important in Singapore, being one of the world's most densely…
Unlike conventional cars, connected and autonomous vehicles (CAVs) can cross intersections in a lane-free order and utilise the whole area of intersections. This paper presents a minimum-time optimal control problem to centrally control the…