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Cooperative vehicle coordination at unsignalized intersections has garnered significant interest from both academia and industry in recent years, highlighting its notable advantages in improving traffic throughput and fuel efficiency.…
Sensor-based perception on vehicles are becoming prevalent and important to enhance the road safety. Autonomous driving systems use cameras, LiDAR, and radar to detect surrounding objects, while human-driven vehicles use them to assist the…
Vehicular platooning promises transformative improvements in transportation efficiency and safety through the coordination of multi-vehicle formations enabled by Vehicle-to-Everything (V2X) communication. However, the distributed nature of…
This work presents a distributed method for multi-vehicle coordination based on nonlinear model predictive control (NMPC) and dual decomposition. Our approach allows the vehicles to coordinate in tight spaces (e.g., busy highway lanes or…
We present a novel Multi-Relational Graph Convolutional Network (MRGCN) based framework to model on-road vehicle behaviors from a sequence of temporally ordered frames as grabbed by a moving monocular camera. The input to MRGCN is a…
Predicting the motion of a driver's vehicle is crucial for advanced driving systems, enabling detection of potential risks towards shared control between the driver and automation systems. In this paper, we propose a variational neural…
Cooperative Intelligent Transportation Systems (cITS) are a promising technology to enhance driving safety and efficiency. Vehicles communicate wirelessly with other vehicles and infrastructure, thereby creating a highly dynamic and…
A network of unmanned aerial vehicles (UAVs) provides distributed coverage, reconfigurability, and maneuverability in performing complex cooperative tasks. However, it relies on wireless communications that can be susceptible to cyber…
Managing mixed traffic comprising human-driven and robot vehicles (RVs) across large-scale networks presents unique challenges beyond single-intersection control. This paper proposes a reinforcement learning framework for coordinating mixed…
Autonomous driving has entered the testing phase, but due to the limited decision-making capabilities of individual vehicle algorithms, safety and efficiency issues have become more apparent in complex scenarios. With the advancement of…
Cooperative autonomous driving plays a pivotal role in improving road capacity and safety within intelligent transportation systems, particularly through the deployment of autonomous vehicles on urban streets. By enabling vehicle-to-vehicle…
This paper investigates the resilient control, analysis, recovery, and operation of mobile robot networks in time-varying formation tracking under deception attacks on global positioning. Local and global tracking control algorithms are…
Vehicle-to-Infrastructure (V2I) communications are increasingly supporting highway operations such as electronic toll collection, carpooling, and vehicle platooning. In this paper we study the incentives of strategic misbehavior by…
Autonomous vehicles (AVs) promise efficient, clean and cost-effective transportation systems, but their reliance on sensors, wireless communications, and decision-making systems makes them vulnerable to cyberattacks and physical threats.…
An approach to resilient planning and control of autonomous vehicles in multi-vehicle traffic scenarios is proposed. The proposed method is based on model predictive control (MPC), where alternative predictions of the surrounding traffic…
Unmanned aerial vehicles (UAVs) have been increasingly utilized in various civilian and military applications such as remote sensing, border patrolling, disaster monitoring, and communication coverage extension. However, there are still…
Connected vehicles are vulnerable to manipulation and a broad attack surface can be used to intrude in-vehicle networks from anywhere on earth. In this work, we present an integrated security infrastructure comprising network protection,…
Mutual understanding between driver and vehicle is critically important to the design of intelligent vehicles and customized interaction interface. In this study, a unified driver behavior reasoning system toward multi-scale and multi-tasks…
Anomaly detection in event logs is a promising approach for intrusion detection in enterprise networks. By building a statistical model of usual activity, it aims to detect multiple kinds of malicious behavior, including stealthy tactics,…
Wireless communication-based multi-robot systems open the door to cyberattacks that can disrupt safety and performance of collaborative robots. The physical channel supporting inter-robot communication offers an attractive opportunity to…