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Collision avoidance algorithms for Autonomous Surface Vehicles (ASV) that follow the Convention on the International Regulations for Preventing Collisions at Sea (COLREGs) have been proposed in recent years. However, it may be difficult and…
Autonomous systems are becoming ubiquitous and gaining momentum within the marine sector. Since the electrification of transport is happening simultaneously, autonomous marine vessels can reduce environmental impact, lower costs, and…
Intersection management with mixed cooperative and non-cooperative vehicles is crucial in next-generation transportation systems. For fully non-cooperative systems, a minimax scheduling framework was established, while it is inefficient in…
This paper presents a distributed solution for the problem of collaborative collision avoidance for autonomous inland waterway ships. A two-layer collision avoidance framework that considers inland waterway traffic regulations is proposed…
We develop an event-driven Receding Horizon Control (RHC) scheme for a Ride Sharing System (RSS) in a transportation network where vehicles are shared to pick up and drop off passengers so as to minimize a weighted sum of passenger waiting…
Driving in urban environments often presents difficult situations that require expert maneuvering of a vehicle. These situations become even more challenging when considering large vehicles, such as buses. We present a path planning…
This paper presents a novel conflict resolution strategy for autonomous surface vehicles (ASVs) to safely navigate and avoid collisions in a multi-vessel environment at sea. Collisions between two or more marine vessels must be avoided by…
Autonomous aerial vehicles, such as NASA's Ingenuity, enable rapid planetary surface exploration beyond the reach of ground-based robots. Thus, NASA is studying a Mars Science Helicopter (MSH), an advanced concept capable of performing…
In response to stringent emission reduction targets imposed by the International Maritime Organization (IMO) and the European Green Deal's Fit for 55 legislation package, the maritime industry has shifted its focus towards decarbonization.…
We study the joint route assignment and charge scheduling problem of a transit system dispatcher operating a fleet of electric buses in order to maximize solar energy integration and reduce energy costs. Specifically, we consider a complex…
Collision-free motion is a fundamental requirement for many autonomous systems. This paper develops a safety-critical control approach for the collision-free navigation of polytope-shaped agents in polytope-shaped environments. A systematic…
This paper proposed a novel method for autonomous parking. Autonomous parking has received a lot of attention because of its convenience, but due to the complex environment and the non-holonomic constraints of vehicle, it is difficult to…
The development of self-driving cars has garnered significant attention from researchers, universities, and industries worldwide. Autonomous vehicles integrate numerous subsystems, including lane tracking, object detection, and vehicle…
This paper introduces a novel classification for Autonomous Mobile Robots (AMRs), into three phases and five steps, focusing on autonomous collision-free navigation. Additionally, it presents the main methods and widely accepted…
Cooperative adaptive cruise control presents an opportunity to improve road transportation through increase in road capacity and reduction in energy use and accidents. Clever design of control algorithms and communication systems is…
Deploying self-navigating surface vessels in inland waterways offers a sustainable alternative to reduce road traffic congestion and emissions. However, navigating confined waterways presents unique challenges, including narrow channels,…
We are witnessing the rise of autonomous cars, which will likely revolutionize the way we travel. Arguably, the maritime domain lags behind, as ships operate on many more degrees of freedom (thus, a much larger search space): there is less…
The harsh ocean environment and complex operating condition require high dynamic positioning (DP) capability of offshore vessel. The design, development and performance evaluation of DP system are generally carried out by numerical…
Cyclops, introduced in this paper, is an open research platform for everyone that wants to validate novel ideas and approaches in the area of self-driving heavy-duty vehicle platooning. The platform consists of multiple 1/14 scale…
Navigation underwater traditionally is done by keeping a safe distance from obstacles, resulting in "fly-overs" of the area of interest. Movement of an autonomous underwater vehicle (AUV) through a cluttered space, such as a shipwreck or a…