Related papers: Reachability-based Safe Planning for Multi-Vehicle…
Safe and smooth interacting with other vehicles is one of the ultimate goals of driving automation. However, recent reports of demonstrative deployments of automated vehicles (AVs) indicate that AVs are still difficult to meet the…
In this letter, we present an approach for learning human driving behavior, without relying on specific model structures or prior distributions, in a mixed-traffic environment where connected and automated vehicles (CAVs) coexist with…
The optimal visiting problem is the optimization of a trajectory that has to touch or pass as close as possible to a collection of target points. The problem does not verify the dynamic programming principle, and it needs a specific…
Reverse parking maneuvering of a vehicle with trailer system is a difficult task to complete for human drivers due to the multi-body nature of the system and the unintuitive controls required to orientate the trailer properly. The problem…
This letter investigates computing-accessibility-aware cooperative 3D deployment of multiple UAVs for task completion enhancement, termed CA3D. We first provide a theoretical analysis showing that computing accessibility is the key…
Contingency planning is the architectural capability that enables autonomous vehicles (AVs) to anticipate and mitigate discrete, high-impact hazards, such as sensor outages and adversarial interactions. This paper presents a comprehensive…
This paper addresses the motion planning problem for a team of aerial agents under high level goals. We propose a hybrid control strategy that guarantees the accomplishment of each agent's local goal specification, which is given as a…
Motion planning in environments with multiple agents is critical to many important autonomous applications such as autonomous vehicles and assistive robots. This paper considers the problem of motion planning, where the controlled agent…
Autonomous vehicles face tremendous challenges while interacting with human drivers in different kinds of scenarios. Developing control methods with safety guarantees while performing interactions with uncertainty is an ongoing research…
In this paper, we address a coordination problem for connected and autonomous vehicles (CAVs) in mixed traffic settings with human-driven vehicles (HDVs). The main objective is to have a safe and optimal crossing order for vehicles…
This paper proposed a novel method for autonomous parking. Autonomous parking has received a lot of attention because of its convenience, but due to the complex environment and the non-holonomic constraints of vehicle, it is difficult to…
We present a method to compute the stochastic reachability safety probabilities for high-dimensional stochastic dynamical systems. Our approach takes advantage of a nonparametric learning technique known as conditional distribution…
Due to the current developments towards autonomous driving and vehicle active safety, there is an increasing necessity for algorithms that are able to perform complex criticality predictions in real-time. Being able to process multi-object…
Existing decentralized methods for multi-agent motion planning lack formal, infinite-horizon safety guarantees, especially for communication-constrained systems. We present R3R which, to our knowledge, is the first decentralized and…
Hybrid systems - more precisely, their mathematical models - can exhibit behaviors, like Zeno behaviors, that are absent in purely discrete or purely continuous systems. First, we observe that, in this context, the usual definition of…
Autonomous vehicles (AVs) may use external interfaces, such as LED light bands, to communicate with pedestrians safely and intuitively. While previous research has demonstrated the effectiveness of these interfaces in simple traffic…
Multi-vehicle trajectory planning is a non-convex problem that becomes increasingly difficult in dense environments due to the rapid growth of collision constraints. Efficient exploration of feasible behaviors and resolution of tight…
Reachability analysis is a critical tool for the formal verification of dynamical systems and the synthesis of controllers for them. Due to their computational complexity, many reachability analysis methods are restricted to systems with…
We address the security of a network of Connected and Automated Vehicles (CAVs) cooperating to navigate through a conflict area. Adversarial attacks such as Sybil attacks can cause safety violations resulting in collisions and traffic jams.…
In this paper, a novel proximity and load-aware resource allocation for vehicle-to-vehicle (V2V) communication is proposed. The proposed approach exploits the spatio-temporal traffic patterns, in terms of load and vehicles' physical…