Related papers: Reachability-based Safe Planning for Multi-Vehicle…
Robots such as autonomous vehicles and assistive manipulators are increasingly operating in dynamic environments and close physical proximity to people. In such scenarios, the robot can leverage a human motion predictor to predict their…
Trajectory planning is challenging for autonomous cars since they operate in unpredictable environments with limited sensor horizons. To incorporate new information as it is sensed, planning is done in a loop, with the next plan being…
This paper presents a novel contingency planning framework that integrates learning-based multi-modal predictions of traffic participants into Branch Model Predictive Control (MPC). Leveraging reachability analysis, we address the…
Autonomous vehicles must navigate dynamically uncertain environments while balancing safety and efficiency. This challenge is exacerbated by unpredictable human-driven vehicle (HV) behaviors and perception inaccuracies, necessitating…
This paper addresses security challenges in multi-robot systems (MRS) where adversaries may compromise robot control, risking unauthorized access to forbidden areas. We propose a novel multi-robot optimal planning algorithm that integrates…
In order to develop provably safe human-in-the-loop systems, accurate and precise models of human behavior must be developed. In the case of intelligent vehicles, one can imagine the need for predicting driver behavior to develop minimally…
Recently vehicle-to-vehicle (V2V) communication emerged as a key enabling technology to ensure traffic safety and other mission-critical applications. In this paper, a novel proximity and quality-of-service (QoS)-aware resource allocation…
Reachability analysis is an important method in providing safety guarantees for systems with unknown or uncertain dynamics. Due to the computational intractability of exact reachability analysis for general nonlinear, high-dimensional…
Safe overtaking, especially in a bidirectional mixed-traffic setting, remains a key challenge for Connected Autonomous Vehicles (CAVs). The presence of human-driven vehicles (HDVs), behavior unpredictability, and blind spots resulting from…
We address the problem of coordination and control of Connected and Automated Vehicles (CAVs) in the presence of imperfect observations in mixed traffic environment. A commonly used approach is learning-based decision-making, such as…
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…
Advances in autonomy offer the potential for dramatic positive outcomes in a number of domains, yet enabling their safe deployment remains an open problem. This work's motivating question is: In safety-critical settings, can we avoid the…
A fundamental concern in progressing Airborne Wind Energy (AWE) operations towards commercial success, is guaranteeing that safety requirements placed on the systems are met. Due to the high dimensional complexity of AWE systems, however,…
Achieving persistent tracking of multiple dynamic targets over a large spatial area poses significant challenges for a single-robot system with constrained sensing capabilities. As the robot moves to track different targets, the ones…
Reachability analysis provides formal guarantees for performance and safety properties of nonlinear control systems. Here, one aims to compute the backward reachable set (BRS) or tube (BRT) -- the set of states from which the system can be…
Coordinated control of connected and automated vehicles (CAVs) emerges as a promising technology to improve traffic safety, efficiency, and sustainability. Meanwhile, mixed traffic, where CAVs coexist with conventional human-driven vehicles…
The decision logic for the ACAS X family of aircraft collision avoidance systems is represented as a large numeric table. Due to storage constraints of certified avionics hardware, neural networks have been suggested as a way to…
We consider the problem of feasible coordination control for multiple homogeneous or heterogeneous mobile vehicles subject to various constraints (nonholonomic motion constraints, holonomic coordination constraints, equality/inequality…
We consider the problem of time-optimal path planning for simple nonholonomic vehicles. In previous similar work, the vehicle has been simplified to a point mass and the obstacles have been stationary. Our formulation accounts for a…
Advanced Air Mobility (AAM) operations are expected to significantly increase aerial traffic in urban airspace, requiring autonomous traffic management systems to ensure collision-free operations in highly congested environments. In this…