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This paper presents a novel method to generate spatial constraints for motion planning in dynamic environments. Motion planning methods for autonomous driving and mobile robots typically need to rely on the spatial constraints imposed by a…
Shared space reduces segregation between vehicles and pedestrians and encourages them to share roads without imposed traffic rules. The behaviour of road users (RUs) is then controlled by social norms, and interactions are more versatile…
Autonomous driving technology has rapidly evolved over the past decade, offering significant improvements in transportation efficiency, safety, and cost reduction. While much of the progress has focused on highway driving and obstacle…
We consider the scenario where human-driven/autonomous vehicles with low/high occupancy are sharing a segment of highway and autonomous vehicles are capable of increasing the traffic throughput by preserving a shorter headway than…
We present a hierarchical control approach for maneuvering an autonomous vehicle (AV) in tightly-constrained environments where other moving AVs and/or human driven vehicles are present. A two-level hierarchy is proposed: a high-level…
Vehicles with driving automation are increasingly being developed for deployment across the world. However, the onboard sensing and perception capabilities of such automated or autonomous vehicles (AV) may not be sufficient to ensure safety…
Autonomous vehicles (AVs) are attractive for ride service providers (RSPs) in part because they eliminate the need to compete for human drivers. We investigate a scenario where two RSPs with AVs compete for customers. We model the problem…
This paper presents scalable traffic stability analysis for both pure autonomous vehicle (AV) traffic and mixed traffic based on continuum traffic flow models. Human vehicles are modeled by a non-equilibrium traffic flow model, i.e.,…
To plan the trajectories of a large-scale heterogeneous swarm, sequentially or synchronously distributed methods usually become intractable due to the lack of global clock synchronization. To this end, we provide a novel asynchronous…
Autonomous vehicles (AVs) have the potential to prevent accidents caused by drivers errors and reduce road traffic risks. Due to the nature of heavy vehicles, whose collisions cause more serious crashes, the weights of vehicles need to be…
Considering that human-driven vehicles and autonomous vehicles (AVs) will coexist on roads in the future for a long time, how to merge AVs into human drivers traffic ecology and minimize the effect of AVs and their misfit with human…
We study the problem of planning routes in road networks when certain streets or areas are closed at certain times. For heavy vehicles, such areas may be very large since many European countries impose temporary driving bans during the…
Coordinating the motions of multiple autonomous vehicles (AVs) requires planning frameworks that ensure safety while making efficient use of space and time. This paper presents a new approach, termed variable-time-step spatio-temporal…
This paper investigates the cooperative planning and control problem for multiple connected autonomous vehicles (CAVs) in different scenarios. In the existing literature, most of the methods suffer from significant problems in computational…
In this paper, we propose an Openspace Collision-freE trAjectory plaNner (OCEAN) for autonomous parking. OCEAN is an optimization-based trajectory planner accelerated by Alternating Direction Method of Multiplier (ADMM) with enhanced…
In this paper, we design a pricing framework for online electric vehicle (EV) parking assignment and charge scheduling. Here, users with electric vehicles want to park and charge at electric-vehicle-supply-equipment (EVSEs) at different…
Unmanned Aerial Vehicle (UAV) technology is a promising solution for providing high-quality mobile services to ground users, where a UAV with limited service coverage travels among multiple geographical user locations (e.g., hotspots) for…
Autonomous driving technology pledges safety, convenience, and energy efficiency. Challenges include the unknown intentions of other road users: communication between vehicles and with the road infrastructure is a possible approach to…
The design of cooperative adaptive cruise control is critical in mixed traffic flow, where connected and automated vehicles (CAVs) and human-driven vehicles (HDVs) coexist. Compared with pure CAVs, the major challenge is how to handle the…
Traffic assignment analyzes traffic flows in road networks that emerge due to traveler interaction. Traditionally, travelers are assumed to use private cars, so road costs grow with the number of users due to congestion. However, in…