Related papers: Distributed Cooperative Driving in Multi-Intersect…

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…

In this paper, we propose a model predictive control based operation strategy that allows for power exchange between interconnected microgrids. Particularly, the approach ensures that each microgrid benefits from power exchange with others.…

Distributed optimization consists of multiple computation nodes working together to minimize a common objective function through local computation iterations and network-constrained communication steps. In the context of robotics,…

This paper proposes a simplified version of classical models for urban transportation networks, and studies the problem of controlling intersections with the goal of optimizing network-wide congestion. Differently from traditional…

For multi-vehicle complex traffic scenarios in shared spaces such as intelligent intersections, safe coordination and trajectory planning is challenging due to computational complexity. To meet this challenge, we introduce a computationally…

In the past few years, several systems have been proposed to deal with issues related to the vehicular traffic management. Usually, their solutions include the integration of computational technologies such as vehicular networks, central…

Autonomous driving is a key technology towards a brighter, more sustainable future. To enable such a future, it is necessary to utilize autonomous vehicles in shared mobility models. However, to evaluate, whether two or more route requests…

Traffic Intersections are vital to urban road networks as they regulate the movement of people and goods. However, they are regions of conflicting trajectories and are prone to accidents. Deep Generative models of traffic dynamics at…

This paper studies the cooperative driving of connected and automated vehicles (CAVs) at conflict areas (e.g., non-signalized intersections and ramping regions). Due to safety concerns, most existing studies prohibit lane change since this…

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…

We propose efficient distributed algorithms to aid navigation of a user through a geographic area covered by sensors. The sensors sense the level of danger at their locations and we use this information to find a safe path for the user…

This paper studies the optimal resource allocation problem within a multi-agent network composed of both autonomous agents and humans. The main challenge lies in the globally coupled constraints that link the decisions of autonomous agents…

Many vehicles spend a significant amount of time in urban traffic congestion. Due to the evolution of autonomous cars, driver assistance systems, and in-vehicle entertainment, many vehicles have plentiful computational and communication…

In the near future, our streets will be populated by myriads of autonomous self-driving vehicles to serve our diverse mobility needs. This will raise the need to coordinate their movements in order to properly handle both access to shared…

The development of cooperative vehicle safety (CVS) applications, such as collision warnings, turning assistants, and speed advisories, etc., has received great attention in the past few years. Accurate vehicular localization is essential…

Traffic congestion remains a significant challenge in modern urban networks. Autonomous driving technologies have emerged as a potential solution. Among traffic control methods, reinforcement learning has shown superior performance over…

Cooperative automated vehicles exchange information to assist each other in creating a more precise and extended view of their surroundings, with the aim of improving automated-driving decisions. This paper addresses the need for scalable…

Cooperation is a ubiquitous phenomenon in many natural, social, and engineered systems with multiple agents. Understanding the formation of cooperation in mixed traffic is of theoretical interest in its own right, and could also benefit the…

This paper presents a distributed solution for the problem of collaborative collision avoidance for autonomous inland waterway ships. A two-layer collision avoidance framework that considers inland waterway traffic regulations is proposed…

In this paper, we focus on the problem of task allocation, cooperative path planning and motion coordination of the large-scale system with thousands of robots, aiming for practical applications in robotic warehouses and automated logistics…