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A path-planning algorithm for connected and non-connected automated road vehicles on multilane motorways is derived from the opportune formulation of an optimal control problem. In this framework, the objective function to be minimized…
It is widely acknowledged that drivers should remain in the control loop of automated vehicles before they completely meet real-world operational conditions. This paper introduces an `indirect shared control' scheme for steer-by-wire…
Ensuring safe and efficient operation of collaborative robots in human environments is challenging, especially in dynamic settings where both obstacle motion and tasks change over time. Current robot controllers typically assume full…
The main problems in transportation are accidents, increasingly slow traffic flow, and pollution. An intelligent transportation system (ITS) using external infrastructure can overcome these problems. For this reason, the number of such…
Addressing safe and efficient interaction between connected and automated vehicles (CAVs) and human-driven vehicles in a mixed-traffic environment has attracted considerable attention. In this paper, we develop a framework for stochastic…
Real-time Advisory (RTA) systems, such as navigational and eco-driving assistants, are becoming increasingly ubiquitous in vehicles due to their benefits for users and society. Until autonomous vehicles mature, such advisory systems will…
Intelligent Transportation Systems (ITSs) is the backbone of transportation services in smart cities. ITSs produce better-informed decisions using real-time data gathered from connected vehicles. In ITSs, Vehicular Ad hoc Network (VANET) is…
Intelligent transportation systems (ITSs) are envisioned to be crucial for smart cities, which aims at improving traffic flow to improve the life quality of urban residents and reducing congestion to improve the efficiency of commuting.…
A distributed coordination method for solving multi-vehicle lane changes for connected autonomous vehicles (CAVs) is presented. Existing approaches to multi-vehicle lane changes are passive and opportunistic as they are implemented only…
Intelligent reflecting surface (IRS) has emerged as a promising technique to control wireless propagation environment for enhancing the communication performance cost-effectively. However, the rapidly time-varying channel in high-mobility…
Cooperative driving, enabled by Vehicle-to-Everything (V2X) communication, is expected to significantly contribute to the transportation system's safety and efficiency. Cooperative Adaptive Cruise Control (CACC), a major cooperative driving…
The significance of transportation efficiency, safety, and related services is increasing in urban vehicular networks. Within such networks, roadside units (RSUs) serve as intermediates in facilitating communication. Therefore, the…
Identification of the vehicles passing over the roads is a very important component of an Intelligent Transportation System. However, due to the presence of multiple vehicles together and their velocity, it gets hard to accurately identify…
In mixed-traffic environments, autonomous vehicles (AVs) must interact with heterogeneous human-driven vehicles (HVs) whose intentions and driving styles vary across individuals and scenarios. Such variability introduces uncertainty into…
We address the problem of motion planning for four-way intersection crossings with right-of-ways. Road safety typically assigns liability to the follower in rear-end collisions and to the approaching vehicle required to yield in side…
This paper addresses motion replanning in human-robot collaborative scenarios, emphasizing reactivity and safety-compliant efficiency. While existing human-aware motion planners are effective in structured environments, they often struggle…
Autonomous Driving is now the promising future of transportation. As one basis for autonomous driving, High Definition Map (HD map) provides high-precision descriptions of the environment, therefore it enables more accurate perception and…
Speed advisory systems for connected vehicles rely on the estimation of green (or red) light duration at signalized intersections. A particular challenge is to predict the signal phases of semi- and fully-actuated traffic lights. In this…
An indoor robot navigation system is investigated, where an intelligent reflecting surface (IRS) is employed to enhance the connectivity between the access point (AP) and a mobile robotic user. The considered system is optimized for…
The connectivity aspect of connected autonomous vehicles (CAV) is beneficial because it facilitates dissemination of traffic-related information to vehicles through Vehicle-to-External (V2X) communication. Onboard sensing equipment…