Related papers: Optimization based coordination of autonomous vehi…
The development of connected and automated vehicles is the key to improving urban mobility safety and efficiency. This paper focuses on cooperative vehicle management at a signal-free intersection with consideration of vehicle modeling…
Motion planning in uncertain environments like complex urban areas is a key challenge for autonomous vehicles (AVs). The aim of our research is to investigate how AVs can navigate crowded, unpredictable scenarios with multiple pedestrians…
Urban intersections are prone to delays and inefficiencies due to static precedence rules and occlusions limiting the view on prioritized traffic. Existing approaches to improve traffic flow, widely known as automatic intersection…
The integration of Automated Vehicles (AVs) into traffic flow holds the potential to significantly improve traffic congestion by enabling AVs to function as actuators within the flow. This paper introduces an adaptive speed controller…
Multi-modal behaviors exhibited by surrounding vehicles (SVs) can typically lead to traffic congestion and reduce the travel efficiency of autonomous vehicles (AVs) in dense traffic. This paper proposes a real-time parallel trajectory…
This paper designs a novel trajectory planning approach to resolve the computational efficiency and safety problems in uncoordinated methods by exploiting vehicle-to-everything (V2X) technology. The trajectory planning for connected and…
Autonomous vehicles (AVs) must share the driving space with other drivers and often employ conservative motion planning strategies to ensure safety. These conservative strategies can negatively impact AV's performance and significantly slow…
In the future, High Occupancy Vehicle (HOV) lanes or other dedicated lanes might be restricted to autonomous vehicles, e.g. wirelessly connected vehicles with longitudinal motion control. These vehicles would likely travel at high speeds in…
Cooperative maneuver planning promises to significantly improve traffic efficiency at unsignalized intersections by leveraging connected automated vehicles. Previous works on this topic have been mostly developed for completely automated…
Trajectory planning in dense, interactive traffic scenarios presents significant challenges for autonomous vehicles, primarily due to the uncertainty of human driver behavior and the non-convex nature of collision avoidance constraints.…
This paper addresses the problem of finding the optimal Eco-Driving (ED) speed profile of an electric Connected and Automated Vehicle (CAV) in an isolated urban un-signalized intersection. The problem is formulated as a single-level…
This paper presents an optimisation-based approach for an obstacle avoidance problem within an autonomous vehicle racing context. Our control regime leverages online reachability analysis and sensor data to compute the maximal safe…
Connected and autonomous vehicles (CAVs) can reduce human errors in traffic accidents, increase road efficiency, and execute various tasks ranging from delivery to smart city surveillance. Reaping these benefits requires CAVs to…
In this paper, we propose an optimization framework for cooperative merging of platoons of connected and automated vehicles at highway on-ramps. The framework includes (1) an optimal scheduling algorithm, through which, each platoon derives…
Cooperative coordination at unsignalized road intersections, which aims to improve the driving safety and traffic throughput for connected and automated vehicles, has attracted increasing interests in recent years. However, most existing…
In this paper we treat optimal trajectory planning for an autonomous vehicle (AV) operating in dense traffic, where vehicles closely interact with each other. To tackle this problem, we present a novel framework that couples trajectory…
Intelligent transportation systems have recently emerged to address the growing interest for safer, more efficient, and sustainable transportation solutions. In this direction, this paper presents distributed algorithms for control and…
Coordinating the motion of multiple robots in cluttered environments remains a computationally challenging task. We study the problem of minimizing the execution time of a set of geometric paths by a team of robots with state-dependent…
As autonomous vehicles (AVs) inch closer to reality, a central requirement for acceptance will be earning the trust of humans in everyday driving situations. In particular, the interaction between AVs and pedestrians is of high importance,…
The paper presents a movement strategy for Connected and Automated Vehicles (CAVs) in a lane-free traffic environment with vehicle nudging by use of an optimal control approach. State-dependent constraints on control inputs are considered…