Related papers: GAMEOPT: Optimal Real-time Multi-Agent Planning an…

The rapid evolution of urban air mobility (UAM) is reshaping the future of transportation by integrating aerial vehicles into urban transit systems. The design of aerial intersections plays a critical role in the phased development of UAM…

Merging into dense highway traffic for an autonomous vehicle is a complex decision-making task, wherein the vehicle must identify a potential gap and coordinate with surrounding human drivers, each of whom may exhibit diverse driving…

In this work we consider the multi-agent motion planning (MAMP) problem with the constraint that agents arrive at their respective goals at the same time. For the special case where all agents are initially at rest we propose a two-step…

Forecasting future trajectories of agents in complex traffic scenes requires reliable and efficient predictions for all agents in the scene. However, existing methods for trajectory prediction are either inefficient or sacrifice accuracy.…

In this paper we present a novel approach for multiagent decision making in dynamic environments based on Factor Graphs and the Max-Sum algorithm, considering asynchronous variable reassignments and distributed message-passing among agents.…

This paper presents a novel strategy for a multi-agent pursuit-evasion game involving multiple faster pursuers with heterogenous speeds and a single slower evader. We define a geometric region, the evader's safe-reachable set, as the…

In this paper, multi-agent systems minimizing a sum of objective functions, where each component is only known to a particular node, is considered for continuous-time dynamics with time-varying interconnection topologies. Assuming that each…

In this paper, we address the problem of coordinating platoons of connected and automated vehicles at signal-free intersections. We present a decentralized, two-level optimal framework to coordinate the platoons with the objective to…

Multi-depot vehicle routing problems (MDVRPs) are prevalent in a variety of practical applications. However, they are computationally challenging to solve due to their inherent complexity. This paper proposes an effective hybrid algorithm…

This paper proposes a fast and accurate trajectory planning algorithm for autonomous parking. Nominally, an optimal control problem should be formulated to describe this scheme, but the dimensionality of the optimal control problem is…

We investigate the problem of coordinating human-driven vehicles in road intersections without any traffic lights or signs by issuing speed advices. The vehicles in the intersection are assumed to move along an a priori known path and to be…

Motion trajectory planning is one crucial aspect for automated vehicles, as it governs the own future behavior in a dynamically changing environment. A good utilization of a vehicle's characteristics requires the consideration of the…

This paper addresses the design of an optimization-based cooperative path-following control law for multiple robotic vehicles that optimally balances the transient trade-off between coordination and path-following errors. To this end, we…

This paper considers competitive mobility-on-demand systems where a group of vehicle sharing companies, on one hand, want to collectively regulate the traffic of the user queueing network, and on the other hand, maximize their own profits…

Aiming at the problem of driver's perception lag and low utilization efficiency of space-time resources in expressway ramp confluence area, based on the preemptive spatiotemporal trajectory Adjustment system, from the perspective of…

This paper presents a unified framework for the evaluation and optimization of autonomous vehicle trajectories, integrating formal safety, comfort, and efficiency criteria. An innovative geometric indicator, based on the analysis of safety…

The problem of mixed static and dynamic obstacle avoidance is essential for path planning in highly dynamic environment. However, the paths formed by grid edges can be longer than the true shortest paths in the terrain since their headings…

Hybrid traffic which involves both autonomous and human-driven vehicles would be the norm of the autonomous vehicles practice for a while. On the one hand, unlike autonomous vehicles, human-driven vehicles could exhibit sudden abnormal…

The ability to guarantee safety and progress for all vehicles is vital to the success of the autonomous vehicle industry. We present a framework for designing autonomous vehicle behavior in a way that is safe and guarantees progress for all…

We study the problem of optimizing a guidance policy capable of dynamically guiding the agents for lifelong Multi-Agent Path Finding based on real-time traffic patterns. Multi-Agent Path Finding (MAPF) focuses on moving multiple agents from…