Related papers: Approximate Dynamic Programming for Platoon Coordi…
This paper presents a modeling and design optimization framework for an Electric Autonomous Mobility-on-Demand system that allows for ride-pooling, i.e., multiple users can be transported at the same time towards a similar direction to…
This paper investigates the problem of ecological driving (eco-driving) of vehicle platoons. To reduce the probability of the platoon avoiding red lights and increase fuel efficiency, a two-layer control architecture is proposed. The first…
This paper presents a distributed model predictive control (DMPC) algorithm for heterogeneous vehicle platoons with unidirectional topologies and a priori unknown desired set point. The vehicles (or nodes) in a platoon are dynamically…
Autonomous vehicle platoons present near- and long-term opportunities to enhance operational efficiencies and save lives. The past 30 years have seen rapid development in the autonomous driving space, enabling new technologies that will…
Platooning of connected and autonomous vehicles (CAVs) has a significant potential for throughput improvement. However, the interaction between CAVs and non-CAVs may limit the practically attainable improvement due to platooning. To better…
New autonomous driving technologies are emerging every day and some of them have been commercially applied in the real world. While benefiting from these technologies, autonomous trucks are facing new challenges in short-term maintenance…
Connected Automated Vehicles (CAVs) bring promise of increasing traffic capacity and energy efficiency by forming platoons with short headways on the road. However at low CAV penetration, the capacity gain will be small because the CAVs…
Ride-pooling services, such as UberPool and Lyft Shared Saver, enable a single vehicle to serve multiple customers within one shared trip. Efficient path-planning algorithms are crucial for improving the performance of such systems. For…
In this work, we are interested in studying multi-agent routing settings, where adversarial agents are part of the assignment and decision loop, degrading the performance of the fleet by incurring bounded delays while servicing…
We develop a general framework for designing polynomial-time approximation schemes (PTASs) for various vehicle routing problems in trees. In these problems, the goal is to optimally route a fleet of vehicles, originating at a depot, to…
Autonomous driving systems, critical for safety, require real-time guarantees and can be modeled as DAGs. Their acceleration features, such as caches and pipelining, often result in execution times below the worst-case. Thus, a…
Many real-world systems often involve physical components or operating environments with highly nonlinear and uncertain dynamics. A number of different control algorithms can be used to design optimal controllers for such systems, assuming…
For robot swarms operating on complex missions in an uncertain environment, it is important that the decision-making algorithm considers both heterogeneity and uncertainty. This paper presents a stochastic programming framework for the…
In this paper, a novel approach to spacing policies for vehicle platoons and a framework for control design is presented. Whereas traditional approaches aim to mitigate the effect of actuation and communication delays on the spacing error,…
The upgrading and updating of vehicles have accelerated in the past decades. Out of the need for environmental friendliness and intelligence, electric vehicles (EVs) and connected and automated vehicles (CAVs) have become new components of…
This paper proposes a fuel-economical distributed model predictive control design (Eco-DMPC) for a homogenous heavy-duty truck platoon. The proposed control strategy integrates a fuel-optimal control strategy for the leader truck with a…
In this work, we address traffic management of multiple payload transport systems comprising of non-holonomic robots. We consider loosely coupled rigid robot formations carrying a payload from one place to another. Each payload transport…
One of the standing challenges in multi-robot systems is the ability to reliably coordinate motions of multiple robots in environments where the robots are subject to disturbances. We consider disturbances that force the robot to…
Hoist scheduling has become a bottleneck in electroplating industry applications with the development of autonomous devices. Although there are a few approaches proposed to target at the challenging problem, they generally cannot scale to…
Autonomous highway driving involves high-speed safety risks due to limited reaction time, where rare but dangerous events may lead to severe consequences. This places stringent requirements on trajectory planning in terms of both…