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Bi-modal delivery systems are a promising solution to the challenges posed by the increasing demand of e-commerce. Due to the potential benefit drones can have on logistics networks such as delivery systems, some countries have taken steps…
We present a novel efficient adaptive sensing and monitoring solution for a system of mobile sensing devices that support traffic monitoring applications. We make a key observation that much of the variance in commute times arises at a few…
Pedestrian motion prediction is a key part of the modular-based autonomous driving pipeline, ensuring safe, accurate, and timely awareness of human agents' possible future trajectories. The autonomous vehicle can use this information to…
Autonomous driving requires efficient reasoning about the location and appearance of the different agents in the scene, which aids in downstream tasks such as object detection, object tracking, and path planning. The past few years have…
For mobile robots navigating on sidewalks, it is essential to be able to safely cross street intersections. Most existing approaches rely on the recognition of the traffic light signal to make an informed crossing decision. Although these…
We consider the problem of optimal unsignalized intersection management, wherein we seek to obtain safe and optimal trajectories, for a set of robots that arrive randomly and continually. This problem involves repeatedly solving a mixed…
Vehicle-infrastructure communication opens up new ways to improve traffic flow efficiency at signalized intersections. In this study, we assume that equipped vehicles can obtain information about switching times of relevant traffic lights…
Urban Air Mobility (UAM) is an emerging application of unmanned aerial vehicles that promises to reduce travel time and alleviate congestion in urban transportation systems. As drone density increases, UAM traffic is expected to experience…
Detecting and tracking vehicles in urban scenes is a crucial step in many traffic-related applications as it helps to improve road user safety among other benefits. Various challenges remain unresolved in multi-object tracking (MOT)…
In an age of ever-increasing penetration of GPS-enabled mobile devices, the potential of real-time "probe" location information for estimating the state of transportation networks is receiving increasing attention. Much work has been done…
Urban intersections with diverse vehicle types, from small cars to large semi-trailers, pose significant challenges for traffic control. This study explores how robot vehicles (RVs) can enhance heterogeneous traffic flow, particularly at…
For a foreseeable future, autonomous vehicles (AVs) will operate in traffic together with human-driven vehicles. Their planning and control systems need extensive testing, including early-stage testing in simulations where the interactions…
Intersection is one of the most challenging scenarios for autonomous driving tasks. Due to the complexity and stochasticity, essential applications (e.g., behavior modeling, motion prediction, safety validation, etc.) at intersections rely…
Up-to-date information wirelessly communicated among vehicles can be used to select the optimal route between a given origin and destination. To elucidate how to make use of such information, simulations are performed for autonomous…
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…
This paper offers openly available microscopic vehicle trajectory (MVT) datasets collected using unmanned aerial vehicles (UAVs) in heterogeneous, area-based urban traffic conditions. Traditional roadside video collection often fails in…
Safe road-crossing by self-driving vehicles is a crucial problem to address in smart-cities. In this paper, we introduce a multi-sensor fusion approach to support road-crossing decisions in a system composed by an autonomous wheelchair and…
With growing complexity and responsibility of automated driving functions in road traffic and growing scope of their operational design domains, there is increasing demand for covering significant parts of development, validation, and…
Unmanned aerial vehicles (UAVs) with mounted cameras have the advantage of capturing aerial (bird-view) images. The availability of aerial visual data and the recent advances in object detection algorithms led the computer vision community…
In this paper, we study the impact and the improvement of using cooperative non-orthogonal multiple access scheme (NOMA) on a millimeter wave (mmWave) vehicular network at intersection roads. The intersections consists of two perpendicular…